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Title:
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Integrating asynchronous observations for mobile robot position tracking in cooperative environments
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Author:
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Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto
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Other authors:
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Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents |
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Abstract:
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This paper presents an asynchronous particle
filter algorithm for mobile robot position tracking, taking into account time considerations when integrating observations
being delayed or advanced from the prior estiamate time point. The interest of that filter lies in cooperative environments and
in fast vehicles. The paper studies the first case, where a sensor network shares perception data with running robots that receive accurate obeservations with large delays due to acquisition, processing and wireless communications. Promising simulated
results comparing a basic particle filter and the proposed one are shown. The paper also investigates a situation where a robot
is tracking its position, fusing only odometry and observations from a camera network partially covering the robot path. |
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Abstract:
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Peer Reviewed |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Mobile robots
-Wireless sensor networks
-Robots mòbils
-Classificació INSPEC::Automation::Robots::Mobile robots |
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Rights:
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Document type:
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Article - Published version
Conference Object |
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Published by:
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IEEE Press. Institute of Electrical and Electronics Engineers
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