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基于声音的分布式多机器人相对定位

吴玉秀 孟庆浩 曾明

吴玉秀, 孟庆浩, 曾明. 基于声音的分布式多机器人相对定位. 自动化学报, 2014, 40(5): 798-809. doi: 10.3724/SP.J.1004.2014.00798
引用本文: 吴玉秀, 孟庆浩, 曾明. 基于声音的分布式多机器人相对定位. 自动化学报, 2014, 40(5): 798-809. doi: 10.3724/SP.J.1004.2014.00798
WU Yu-Xiu, MENG Qing-Hao, ZENG Ming. Sound Based Relative Localization for Distributed Multi-robot Systems. ACTA AUTOMATICA SINICA, 2014, 40(5): 798-809. doi: 10.3724/SP.J.1004.2014.00798
Citation: WU Yu-Xiu, MENG Qing-Hao, ZENG Ming. Sound Based Relative Localization for Distributed Multi-robot Systems. ACTA AUTOMATICA SINICA, 2014, 40(5): 798-809. doi: 10.3724/SP.J.1004.2014.00798

基于声音的分布式多机器人相对定位

doi: 10.3724/SP.J.1004.2014.00798
基金项目: 

国家自然科学基金(61271321,60875053),教育部博士点基金(20120032110068),天津市科技支撑计划项目(14ZCZDSF00025)资助

详细信息
    作者简介:

    吴玉秀 天津大学电气与自动化工程学院博士研究生. 主要研究方向为移动传感器网络,机器人嗅觉.E-mail:yuxiu wu@163.com

Sound Based Relative Localization for Distributed Multi-robot Systems

Funds: 

Supported by National Natural Science Foundation of China (61271321, 60875053), Doctoral Programs Foundation of the Ministry of Education of China (20120032110068), and Tianjin Key Technology Research and Development Program (14ZCZDS F00025)

  • 摘要: 提出了一种基于声音的分布式多机器人相对定位方法.首先,每个机器人通过声源定位算法估计发声机器人在其局部坐标系下的坐标;然后,每个机器人(不含发声机器人)通过无线通信方式将发声机器人在其坐标系下的坐标广播给所有其他机器人,通过坐标变换每个机器人可计算出所有其他机器人在其坐标系下的坐标,从而实现分布式相对定位.理论推导及实验证明只要两个机器人先后发声,通过本文所提方法即可实现多机器人相对定位.室内外环境中采用6个自制小型移动机器人实验表明,所提方法在3米的范围内可实现16厘米的相对定位精度.
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出版历程
  • 收稿日期:  2013-03-19
  • 修回日期:  2013-09-18
  • 刊出日期:  2014-05-20

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