Cooperative On-line Object Detection using Multi-Robot Formation
| Autor: | Vilca Ventura, José Miguel, Adouane, Lounis, Benzerrouk, Ahmed, Mezouar, Y. |
|---|---|
| Přispěvatelé: | Institut Pascal (IP), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-SIGMA Clermont (SIGMA Clermont)-Centre National de la Recherche Scientifique (CNRS), SIGMA Clermont (SIGMA Clermont)-Université Clermont Auvergne [2017-2020] (UCA [2017-2020])-Centre National de la Recherche Scientifique (CNRS), Laboratoire des sciences et matériaux pour l'électronique et d'automatique (LASMEA), Université Blaise Pascal - Clermont-Ferrand 2 (UBP)-Centre National de la Recherche Scientifique (CNRS), Adouane, Lounis |
| Jazyk: | angličtina |
| Rok vydání: | 2012 |
| Předmět: |
[INFO.INFO-AI] Computer Science [cs]/Artificial Intelligence [cs.AI]
[INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY] Parameter identification [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO] component—Multi-robot system Obstacle detection Mobile robot navigation [SPI.AUTO]Engineering Sciences [physics]/Automatic [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI] [SPI.AUTO] Engineering Sciences [physics]/Automatic [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering Formation control [INFO.INFO-SY]Computer Science [cs]/Systems and Control [cs.SY] Telemetry [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering |
| Zdroj: | 7th National Conference on Control Architectures of Robots (CAR'12) 7th National Conference on Control Architectures of Robots (CAR'12), May 2012, Nancy, France |
| Popis: | International audience; —This paper presents an online method for a cooperative mobile robots navigation using local robot's reference frame. The group of robots must navigate while keeping a geometric shape. To achieve with distributed and reactive way the Multi-Robot Formation (MRF), a cooperative object detection using range data is presented. This information will permits to detect the position of the leader robot in the formation. Indeed, in this work it is proposed that the leader can be surrounded by an ellipse and its parameters are obtained online using the sequential range data from all the mobile robots. An appropriate method is used to identify the enclosed ellipse. To perform the MRF, it is proposed to use a combination between behavior-based, dynamical virtual structure (already presented in [1] which use global reference frame) and leader-follower approach. Simulations will permit to show the efficiency of the proposed reactive and distributed cooperative navigation. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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