标题: Multi-robot cooperative edge detection using Kalman filtering
作者: Song, KT
Chen, HT
電控工程研究所
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