Mobile Robotic Sensor Network Using Vision Tracking

摘要

This paper deals with a cooperative object tracking with mobile robotic sensor network. The occlusion problem, which is one of the most important problems of mobile object tracking, will be solve with utilizing the mobile robotic sensor network. Additionally, the high quality information of the object can be observed, since the robotic sensor network can change observation formation their own way. On the other hand, to solve these problems the high cognitive capability and high intelligence sharing ability of robots are required. Consequently, we propose to use high intelligent group robot each of which can communicate with Peer-to-Peer communication. The self-deployment algorithm and network routing algorithm are developed as a base technic of mobile robotic sensor network. The validity of these proposed algorithms are shown by multihop teleoperation experiment. The architecture to share common perceptions which is necessary for cooperative work are proposed.