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Integrating asynchronous observations for mobile robot position tracking in cooperative environments
Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto
Universitat Politècnica de Catalunya. 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
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.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Mobile robots
Wireless sensor networks
Robots mòbils
Classificació INSPEC::Automation::Robots::Mobile robots
info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/conferenceObject
IEEE Press. Institute of Electrical and Electronics Engineers
         

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