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Título : Integrating asynchronous observations for mobile robot position tracking in cooperative environments
Autor : Corominas Murtra, Andreu, Mirats-Tur, Josep M., Sanfeliu, Alberto
Palabras clave : Mobile robots
Position tracking
Particle filter
Asynchronous sensor fusion
Fecha de publicación : 2009
Resumen: This paper presents an asynchronous particle filter algorithm for mobile robot position tracking, taking into account time considerations when integrating observations being delayed or advanced from the prior estimate time point. The interest of that filter lies in cooperative environments and in fast vehicles. The paper studies the first case, where a sensor network shares perception data with running robots that receive accurate observations with large delays due to acquisition, processing and wireless communications. Promising simulated results comparing a basic particle filter and the proposed one are shown. The paper also investigates a situation where a robot is tracking its position, fusing only odometry and observations from a camera network partially covering the robot path.
Descripción : Trabajo presentado al IROS 2009 celebrado en Saint Louis (EE.UU.) del 10 al 15 de octubre.
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ISBN : 978-1-4244-3803-7
DOI: 10.1109/IROS.2009.5354502
Citación : IEEE/RSJ International Conference on Intelligent Robots and Systems: 3850-3855 (2009)
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