MHT-Based Multi-Robot Simultaneous Localization and Tracking
Date Issued
2012
Date
2012
Author(s)
Wang, Shao-Chen
Abstract
Localization is one of the most essential capabilities of autonomous robots. Cooperative localization has been proved to be effective in multi-robot localization. However, nearby moving objects could degrade the cooperative localization performance. In this thesis, we demonstrate that the cooperative simultaneous localization and tracking approach is superior in challenging scenarios. Localization and moving object tracking are mutually beneficial. We also illustrate the disadvantage of jointly estimating the states while the data associations are incorrect. The cooperative localization and tracking approach is integrated with the multiple hypothesis tracking (MHT) framework in order to maintain correct data associations. By integrating with the MHT framework, the proposed method is even able to correctly estimate the robots’ poses while the static features are symmetrically distributed. The proposed approach is evaluated using humanoid robots in the RoboCup environment in which only uncertain data from onboard cameras and odometry are usded. Ample experimental results with ground truthing from laser scanners demonstrate the accuracy and feasibility of the proposed MHT based multi-robot simultaneous localization and tracking algorithm.
Subjects
Multi-Robot
MHT
Multiple Hypothesis Tracking
Localization
Tracking
Simultaneous Localization and Tracking
Type
thesis
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