Collaborative Localization Sensor for Mobile Robots in Feature-Free Environments

Shengsong Yang, P. Payeur
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引用次数: 1

Abstract

Localization for mobile robots has been vastly researched in recent years. However, most solutions remain dependant on the working environment by either extracting information from or installing additional sensors into the environment. An innovative localization sensor is proposed in this work, aiming at providing pose estimation for ground mobile robots while reducing the dependency of the pose estimation on the working environment. The localization approach works under a collaborative scheme where multiple instances of the sensor take relative distance and angular measurements towards each other in order to estimate their respective pose. A mathematical model is derived for the collaborative pose estimation process and two instances of the proposed sensor are implemented and tested with a stationary and a moving landmark to validate the approach.
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无特征环境下移动机器人协同定位传感器
近年来,移动机器人的定位问题得到了广泛的研究。然而,大多数解决方案仍然依赖于工作环境,要么从环境中提取信息,要么在环境中安装额外的传感器。本文提出了一种创新的定位传感器,旨在为地面移动机器人提供姿态估计,同时减少姿态估计对工作环境的依赖。定位方法在协作方案下工作,其中多个传感器实例相互进行相对距离和角度测量,以估计它们各自的姿态。推导了协作姿态估计过程的数学模型,并实现了所提出传感器的两个实例,并使用静止和移动地标进行了测试以验证该方法。
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