2013年
Initial Self-localization Based on Shared Information for Multi-robot Teleoperation System
2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE)
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- 開始ページ
- 2721
- 終了ページ
- 2726
- 記述言語
- 英語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- 出版者・発行元
- IEEE
This paper proposes a localization method using shared information for teleoperation of multiple robots based on formation behaviors. The localization is one of the most important capabilities. However, other robots can be considered as unknown objects when a mobile robot performs initial self-localization. It is difficult to estimate the initial position if the other robots enter the sensing range of the mobile robot. However, the robot can perform the initial self-localization more efficiently by sharing the map information and each self-position. Therefore, we propose a method of effective initial self-localization using the position information of the other mobile robots and the subtracted measurement data of LRF for multi-robot systems. Finally, we show several experimental results, and discuss the effectiveness of the proposed method.
- リンク情報
- ID情報
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- ISSN : 1550-0322
- Web of Science ID : WOS:000350982400237