Distributed Range-based Localization for Swarm Robot Systems using Sensor-fusion Technique

被引：4

作者：

Inoue, Daisuke ^{[1
]}

Murai, Daisuke ^{[1
]}

Ikuta, Yasuhiro ^{[1
]}

Yoshida, Hiroaki ^{[1
]}

机构：

[1] Toyota Cent Res & Dev Labs Inc, Nagakute, Aichi, Japan

来源：

PROCEEDINGS OF THE 8TH INTERNATIONAL CONFERENCE ON SENSOR NETWORKS (SENSORNETS) | 2019年

关键词：

Network Localization; Swarm Robotics; Sensor Fusion; ALGORITHM;

D O I：

10.5220/0007258800130022

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

Herein, we present a localization method for swarm robot systems that relies solely on measured distances from surrounding robots. Using the sensor fusion technique, an exteroceptive estimation method based on the measured distance is dynamically coupled with a simple proprioceptive estimation that uses a robot's own dynamical properties. Our method strictly preserves the locality of algorithm. The results of numerical simulations for several scenarios show that our proposed method is more accurate that conventional methods.

引用

页码：13 / 22

页数：10

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