Range-Only Based Cooperative Localization for Mobile Robots

Abstract : In this paper, we address the problem of localizing mobile robots based on range-only measurements from low cost Ultra-Wide-Band (UWB) sensors. The proposed solution considers every static or mobile object as beacons with contextual information. A beacon-to-beacon measurement is performed using UWB sensors and the position estimation is computed by the target beacon. This strategy allows to hide the cooperative localization problem behind these measurements. The fusion algorithm is based on a Split Intersection Covariance Filter which allows to correctly handle the correlation between the poses estimations of the beacons. We present the consistency of this solution using a simulation with 3 robots and 4 static beacons and a real experimentation with 1 robot and 3 static beacons.
Type de document :
Communication dans un congrès
21st International Conference on Information Fusion (FUSION 2018), Jul 2018, Cambridge, United Kingdom. 2018 21st International Conference on Information Fusion (FUSION), 〈https://fusion2018.eng.cam.ac.uk/〉. 〈10.23919/ICIF.2018.8455692〉
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-01887162
Contributeur : Romuald Aufrere <>
Soumis le : mardi 22 janvier 2019 - 07:47:29
Dernière modification le : jeudi 7 février 2019 - 17:22:32

Fichier

pierre2018.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

Cyrille Pierre, Roland Chapuis, Romuald Aufrère, Jean Laneurit, Christopher Debain. Range-Only Based Cooperative Localization for Mobile Robots. 21st International Conference on Information Fusion (FUSION 2018), Jul 2018, Cambridge, United Kingdom. 2018 21st International Conference on Information Fusion (FUSION), 〈https://fusion2018.eng.cam.ac.uk/〉. 〈10.23919/ICIF.2018.8455692〉. 〈hal-01887162〉

Partager

Métriques

Consultations de la notice

53

Téléchargements de fichiers

28