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Multi-robot trackin...
Multi-robot tracking of a moving object using directional sensors
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- Mazo, Manuel (författare)
- KTH,Signaler, sensorer och system
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- Speranzon, Alberto (författare)
- KTH,Signaler, sensorer och system
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- Johansson, Karl Henrik (författare)
- KTH,Signaler, sensorer och system
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- Hu, Xiaoming (författare)
- KTH,Matematik
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(creator_code:org_t)
- 2004
- 2004
- Engelska.
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Ingår i: 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS. - 0780382323 ; , s. 1103-1108
- Relaterad länk:
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https://kth.diva-por... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
Nyckelord
- Automatic control
- Reglerteknik
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)
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