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题名: Theoretical and Experimental Study of Uncertain Set Based Moving Target Localization Using Multiple Robots
作者: Gu F(谷丰) ; Wang Z(王争) ; He YQ(何玉庆) ; Han JD(韩建达) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期: December 7-11, 2011
会议地点: Phuket, Thailand
会议主办者: IEEE Robotics and Automation Society
会议录: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议录出版者: IEEE Computer Society
会议录出版地: Piscataway, NJ
出版日期: 2011
页码: 1646-1651
收录类别: EI
ISBN号: 978-1-4577-2136-6
关键词: Ellipsoids ; Estimation ; Mathematical model ; Measurement errors ; Measurement uncertainty ; Prediction algorithms ; Robots
摘要: In this paper, multiple robots cooperation based moving target localization problem is researched. Different from traditional statistics based architecture, the concept of uncertain set is utilized in this paper to formulate the so called Cooperative Enhanced Set Membership Filter based cooperative localization algorithm. One of the most attracting advantages of this method is that it assumes the measurement errors are modeling as unknown-but-bounded set, instead of requiring the errors' covariance to be obtainable beforehand, which is general in statistics based algorithm, such as Kalman Filter and Particle Filter. Furthermore, some strategies, which is originated from the update process of the ESMF algorithm itself, are proposed to improve the computational efficiency and localization accuracy. Finally, an original experimental scenario is designed with respect to an indoor multiple-rotorcraft-platform and the results are listed out and analyzed in detail to verify the feasibility and validity of the proposed algorithm.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8923
Appears in Collections:机器人学研究室_会议论文

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