TY - GEN
T1 - Simultaneous localization assistance for multiple mobile robots using particle filter based target tracking
AU - Jayasekara, Peshala G.
AU - Palafox, Leon
AU - Sasaki, Takeshi
AU - Hashimoto, Hideki
AU - Lee, Beom H.
PY - 2010
Y1 - 2010
N2 - Research in the areas of localization, mapping and path planning for single mobile robots has been carried out extensively. Nevertheless, relatively little of its work is applied to multiple robot systems. Moreover, when these robots coexist with human, complex and unpredictable human environments make the above navigational tasks even more challenging. To address this problem we propose intelligent assistance, a novel scheme to assist mobile robots by providing localization information externally. This scheme aims to combine the research fields of autonomous mobile robot navigation and target tracking. The mobile robots are detected using a laser range finder and camera based sensor unit. Using Rao-Blackwellized particle filter technique, the sensory information is integrated in a probabilistic manner and the mobile robots that need assistance are continuously tracked. We maneuver the non-holonomic constraint of mobile robots together with suitable state variables to obtain the heading angle of the robot. The preliminary experiments show the validity of the proposed scheme for simultaneous localization assistance for multiple mobile robots.
AB - Research in the areas of localization, mapping and path planning for single mobile robots has been carried out extensively. Nevertheless, relatively little of its work is applied to multiple robot systems. Moreover, when these robots coexist with human, complex and unpredictable human environments make the above navigational tasks even more challenging. To address this problem we propose intelligent assistance, a novel scheme to assist mobile robots by providing localization information externally. This scheme aims to combine the research fields of autonomous mobile robot navigation and target tracking. The mobile robots are detected using a laser range finder and camera based sensor unit. Using Rao-Blackwellized particle filter technique, the sensory information is integrated in a probabilistic manner and the mobile robots that need assistance are continuously tracked. We maneuver the non-holonomic constraint of mobile robots together with suitable state variables to obtain the heading angle of the robot. The preliminary experiments show the validity of the proposed scheme for simultaneous localization assistance for multiple mobile robots.
KW - Localization
KW - Particle filter
KW - Target tracking
UR - http://www.scopus.com/inward/record.url?scp=79952755811&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79952755811&partnerID=8YFLogxK
U2 - 10.1109/ICIAFS.2010.5715707
DO - 10.1109/ICIAFS.2010.5715707
M3 - Conference contribution
AN - SCOPUS:79952755811
SN - 9781424485512
T3 - Proceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010
SP - 469
EP - 474
BT - Proceedings of the 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010
T2 - 2010 5th International Conference on Information and Automation for Sustainability, ICIAfS 2010
Y2 - 17 December 2010 through 19 December 2010
ER -