MultiRobot Precise Localization Based on Multisensor Fusion

摘要

This paper proposes a precise collaborative localization scheme based on multisensor fusion for leader-follower multi-robot group. Each robot of the group is equipped with its own unique sensors and obtains self-localization by fusing two proprioceptive sensors. The lead robot uses the observer information to revise the self-localization of each robot. This paper also proposes a fusion model for the laser scanner and the vision sensor; the lead robot uses the vision sensor to obtain the target bearing by object detection technique, and then fuses the bearing information with the laser distance information to localize the target. Corresponding to the actual usage, this paper have analyzed and resolved the errors which are results of the operation delay, network delay, and other reasons. To validate our proposed scheme, we have implemented a team localization experiment with a Pioneer 3-AT robot and 3 AmigoBot robots. The results verify that our proposed scheme is valid and viable.