Mobile Robots Pose Tracking: a Set-Membership Approach Using a Visibility Information

Rémy Guyonneau (1) , Sébastien Lagrange (1) , Laurent Hardouin (1)

1 LISA - Laboratoire d'Ingéniérie des Systèmes Automatisés

This paper proposes a set-membership method based on interval analysis to solve the pose tracking problem. The originality of this approach is to consider weak sensors data: the visibility between two robots. By using a team of robots and this boolean information (two robots see each other or not), the objective is to compensate the odometry errors and be able to localize, in a guaranteed way, the robots in an indoor environment. This environment is supposed to be defined by two sets, an inner and an outer characterizations. Simulated results allow to evaluate the efficiency and the limits of the proposed method.

Mots clés: Mobile Robots : Localization : Pose Tracking : Visibility : Interval Analysis.; Mobile Robots : Localization : Pose Tracking : Visibility : Interval Analysis

Domaines: Sciences de l'ingénieur [physics]

Rémy Guyonneau, Sébastien Lagrange, Laurent Hardouin. Mobile Robots Pose Tracking: a Set-Membership Approach Using a Visibility Information. 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Jul 2012, Rome, Italy. pp.x-x. ⟨hal-00846576⟩