Supervised tracking of a mobile robot team

摘要

In this paper a problem of tracking multiple robots is addressed. A central vision system is used to find possible robots in the environment using identical colour marks mounted on each of the robots. To distinguish robots a robust tracking algorithm considering robot kinematics is implemented. However, swaps of robots identifications can still happen and are usually unrecoverable. Therefore swaps of robots identifications and initial initialisation problems are tackled using a supervision, which is based on correlation of command, and estimated robots velocity is implemented.