Title :
Research on location method for mobile robots formation based on global-camera
Author :
Guo, Xiaogang ; Qu, Zhenshen ; Xi, Boqi
Author_Institution :
Space Control & Inertial Technol. Res. Center, Harbin Inst. of Technol.
Abstract :
Robot localization is the key problem for mobile robot formation. In this paper, a localization method of mobile robot formation is put forward based on global-camera. According to the request of real-time control system, at first we pick-up the identifier of robot, then we estimate the position and orientation of the robot with the identifier. At last, LMS algorithm is used to minimize the estimation error. Experiments show the method is effective for localization of autonomous mobile robots formation, as well as robustness against environment disturbance
Keywords :
mobile robots; position control; real-time systems; global-camera; location method; mobile robot formation; real-time control system; robot identifier; robot localization; robot orientation; robot position; Cameras; Charge coupled devices; Charge-coupled image sensors; Machine vision; Mobile robots; Orbital robotics; Robot kinematics; Robot vision systems; Space technology; Visual system;
Conference_Titel :
Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on
Conference_Location :
Harbin
Print_ISBN :
0-7803-9395-3
DOI :
10.1109/ISSCAA.2006.1627641
