A Navigation Method for Multiple Robots Based on a Single Mobile Node

A Navigation Method for Multiple Robots Based on a Single Mobile Node

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摘要 To satisfy the requirements of independent navigation in low cost multiple robots,a navigation frame of masterslave robots with only one master robot is introduced briefly.A range-only navigation algorithm for slave robots of low cost is presented for the navigation in unknown current.This algorithm only needs a master robot.The master is just a single mobile node which has high navigation performance.Observability of this master-salve system is theoretically analyzed.The conditions of slave robot trajectory under which observability is guaranteed are evaluated by a slave robot in real-time.The slave takes appropriate action to control its heading to achieve observability if observability is lost on the current trajectory.The navigation algorithm is implemented by a standard extended Kalman filter,and it is able to acquire accurate estimation of robot's position.The simulation results show its effectiveness of the proposed algorithm. To satisfy the requirements of independent navigation in low cost multiple robots, a navigation frame of master-slave robots with only one master robot is introduced briefly. A range-only navigation algorithm for slave robots of low cost is presented for the navigation in unknown current. This algorithm only needs a master robot. The master is just a single mobile node which has high navigation performance. Observability of this master-salve system is theoretically analyzed. The conditions of slave robot trajectory under which observability is guaranteed are evaluated by a slave robot in real-time. The slave takes appropriate action to control its heading to achieve observability if observability is lost on the current trajectory. The navigation algorithm is implemented by a standard extended Kalman filter, and it is able to acquire accurate estimation of robot＇s position. The simulation results show its effectiveness of the proposed algorithm.

作者 JI Daxiong LIU Jian

机构地区 The State Key Laboratory of Robotics Graduate University of Chinese Academy of Sciences

出处《机器人》 EI CSCD 北大核心 2012年第6期764-768,共5页 Robot

基金 Natural Science Foundation of Liaoning Province(20102236)

关键词摘要编辑部编辑工作读者 low cost slave robot range-only navigation single mobile node observability heading control

分类号 G353.23 [文化科学—情报学] G232 [文化科学]

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A Navigation Method for Multiple Robots Based on a Single Mobile Node

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