Localization of miniature mobile robots using constant curvature dynamic contours

摘要

Presents a method for localizing miniature mobile robots (Scouts) using dynamic contours. An observer robot with a camera follows the miniature robot as it moves and jumps in the workspace. Dynamic contours are very effective in tracking the fast accelerations and decelerations of the Scout robot. We show initial experimental results with particular emphasis on the task of monitoring a Scout during jumps.