A Stochastic Approach for Cooperative Position Estimation of Multiple Mobile Robots

This paper proposes the cooperative position estimation of a group of mobile robots, which pertbrms disaster relief tasks in a wide area. When searching the wide area, it becomes important to know a robot＇s position correctly. However, for each mobile robot, it is impossible to know its own position correctly. Therefore, each mobile robot estimates its position from the data of sensor equipped on it. Generally, the sensor data is incorrect since there is sensor noise, etc. This research considers two types of the sensor data errors from omnidirectional camera. One is the error of white noise of the image captured by omnidirectional camera and so on. Another is the error of position and posture between two omnidirectional cameras. To solve the error of latter case, we proposed a self-position estimation algorithm for multiple mobile robots using two omnidirectional cameras and an accelerometer. On the other hand, to solve the error of the former case, this paper proposed an algorithm of cooperative position estimation for multiple mobile robots. In this algorithm, each mobile robot uses two omnidirectional cameras to observe the surrounding mobile robot and get the relative position between mobile robots. Each mobile robot estimates its position with only measurement data of each other mobile robots. The algorithm is based on a Bayesian filtering. Simulations of the proposed cooperative position estimation algorithm for multiple mobile robots are performed. The results show that position estimation is possible by only using measurement value from each other robot.

林尼克结构干涉测量系统误差分析

在应用林尼克结构干涉测量系统进行测量时,发现系统存在一个近似为二次曲面的测量误差。根据光学干涉系统的测量原理,分别对林尼克结构干涉测量系统的相移器误差、摄像机误差和光学系统误差进行了分析,确定光学系统误差是干涉测量系统的主要误差源,其中显微物镜焦点轴向误差是产生系统测量误差曲面的主要原因。以平面为实验测量样件,应用测量系统对参考光臂显微物镜的不同轴向位置进行了测量,通过分析测量结果验证了焦点轴向误差对系统测量误差的影响,并与理论结果进行了比较。