Theoretical and Experimental Study of Uncertain Set Based Moving Target Localization Using Multiple Robots

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	Theoretical and Experimental Study of Uncertain Set Based Moving Target Localization Using Multiple Robots
	Gu F(谷丰); Wang Z(王争); He YQ(何玉庆); Han JD(韩建达); Wang YC(王越超)
	2011
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
关键词	Ellipsoids Estimation Mathematical model Measurement errors Measurement uncertainty Prediction algorithms Robots
页码	1646-1651
中文摘要	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.
收录类别	EI
产权排序	1
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
语种	英语
ISBN号	978-1-4577-2136-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8923]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Gu F,Wang Z,He YQ,et al. Theoretical and Experimental Study of Uncertain Set Based Moving Target Localization Using Multiple Robots[C]. 见:2011 IEEE International Conference on Robotics and Biomimetics (ROBIO). Phuket, Thailand. December 7-11, 2011.