标题: | Multi-robot cooperative edge detection using Kalman filtering |
作者: | Song, KT Chen, HT 电控工程研究所 Institute of Electrical and Control Engineering |
关键字: | multiple robots;map-building;Kalman filtering;cooperative sensing;sensor data fusion;edge detection;image processing |
公开日期: | 2004 |
摘要: | This paper Presents a design and implementation of cooperative edge detection of multiple mobile robots in an indoor environment. We propose a method to fuse sensory data from two mobile robots at different locations based on Kalman filtering techniques. To demonstrate the proposed method, we constructed two mobile robots for experimental purpose. A USB Web camera was put at the front of each robot for environment recognition. linage acquisition and processing are performed onboard the robot exploiting a Linux-based embedded platform. Processed scenic range data from robots are transferred through wireless Ethernet to a robot-home server, where a global representation of the environment is maintained. The constructed map can be accessed at a remote site for tele-operation of the robots through Internet. Each robot can update its knowledge of the world by downloading the map from the server. Experimental results of two-robot cooperative sensing in a test environment are presented to demonstrate the effectiveness of the proposed method. |
URI: | http://hdl.handle.net/11536/27313 |
ISSN: | 1079-8587 |
期刊: | INTELLIGENT AUTOMATION AND SOFT COMPUTING |
Volume: | 10 |
Issue: | 4 |
起始页: | 295 |
结束页: | 306 |
显示于类别: | Articles |