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AROBOTS
2007

An integrated particle filter and potential field method applied to cooperative multi-robot target tracking

10 years 28 days ago
An integrated particle filter and potential field method applied to cooperative multi-robot target tracking
We describe a novel method whereby a particle filter is used to create a potential field for robot control without prior clustering. We show an application of this technique to control a team of mobile robots to cooperatively locate and track a moving target. The particle filter models a probability distribution over the estimated location of the target, providing robust tracking despite frequent target occlusion. This method extends previous work in particle-filter-based tracking in two important ways. First, the particle cloud is never clustered to find a single estimate of target location. Instead, robot motion is guided by a potential field generated directly from the particle cloud. Secondly, effective coordinated multi-robot searching and tracking can be achieved by simply assigning a subset of the particles to each robot. Simulation trials and real robot experiments demonstrate the method successfully locating and tracking targets, and experiments show that multiple coor...
Roozbeh Mottaghi, Richard T. Vaughan
Added 24 Dec 2010
Updated 24 Dec 2010
Type Journal
Year 2007
Where AROBOTS
Authors Roozbeh Mottaghi, Richard T. Vaughan
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