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Multi-robot tracking of a moving object using directional sensors
Mazo, M., Jr.; Speranzon, A.; Johansson, K.H.; Xiaoming Hu;
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Volume 2,
Apr 26-May 1, 2004
Page(s):1103
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1108 Vol.2
Abstract:
The problem of estimating and tracking the motion of a moving target by a team of mobile robots is studied in this paper. Each robot is assumed to have a directional sensor with limited range, thus more than one robot (sensor) is needed for solving the problem. A sensor fusion scheme based on inter-robot communication is proposed in order to obtain accurate real-time information of the target's position and motion. Accordingly a hierarchical control scheme is applied, in which a consecutive set of desired formations is planned through a discrete model and low-level continuous-time controls are executed to track the resulting references. The algorithm is illustrated through simulations and on an experimental platform.
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