Collaborative Localization Sensor for Mobile Robots in Feature-Free Environments
- Resource Type
- Conference
- Authors
- Yang, Shengsong; Payeur, Pierre
- Source
- 2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC) Measurement Technology Conference (I2MTC), 2020 IEEE International Instrumentation and. :1-6 May, 2020
- Subject
- Bioengineering
Engineering Profession
General Topics for Engineers
Signal Processing and Analysis
Location awareness
Pose estimation
Refining
Collaboration
Swarm robotics
Prototypes
Sensor phenomena and characterization
Localization sensor
ground mobile robots
collaborative pose estimation
- Language
- ISSN
- 2642-2077
Localization for mobile robots has been vastly researched in recent years. However, most solutions remain dependant on the working environment by either extracting information from or installing additional sensors into the environment. An innovative localization sensor is proposed in this work, aiming at providing pose estimation for ground mobile robots while reducing the dependency of the pose estimation on the working environment. The localization approach works under a collaborative scheme where multiple instances of the sensor take relative distance and angular measurements towards each other in order to estimate their respective pose. A mathematical model is derived for the collaborative pose estimation process and two instances of the proposed sensor are implemented and tested with a stationary and a moving landmark to validate the approach.