Leap-frog path design for multi-robot cooperative localization

被引：0
|
作者：
Tully S. [1 ]
Kantor G. [1 ]
Choset H. [1 ]
机构：
[1] Carnegie Mellon University, United States
来源：
Springer Tracts in Advanced Robotics | 2010年 / 62卷
关键词：
D O I：
10.1007/978-3-642-13408-1_28
中图分类号：
学科分类号：
摘要：
We present a “leap-frog” path designed for a team of three robots performing cooperative localization. Two robots act as stationary measurement beacons while the third moves in a path that provides informative measurements. After completing the move, the roles of each robot are switched and the path is repeated. We demonstrate accurate localization using this path via a coverage experiment in which three robots successfully cover a 20m x 30m area. We report an approximate positional drift of 1.1m per robot over a travel distance of 140m. To our knowledge, this is one of the largest successful GPS-denied coverage experiments to date. © Springer-Verlag Berlin Heidelberg 2010.
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页码：307 / 317
页数：10
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