自动化学报Issue(5)：798-809,12.DOI:10.3724/SP.J.1004.2014.00798
基于声音的分布式多机器人相对定位
Sound Based Relative Localization for Distributed Multi-robot Systems
摘要
Abstract
A sound-based relative localization method for distributed multi-robot systems is proposed. Firstly, each robot estimates the location of the sounding robot in its local coordinate system via a sound-source localization algorithm. Secondly, each robot (except the sounding robot) sends the local coordinate to all the other robots via wireless communi-cation, and then each robot calculates the locations of all the other robots in its local coordinate system using coordinate transformation, thus the distributed relative localization is realized. Theoretical derivation and experiments prove that as long as any two robots send sounds successively, the relative localization of multi-robot systems can be realized using the proposed method. Experiments in indoor and outdoor environments using six self-made small mobile robots show that a relative localization accuracy of sixteen centimeters within a range of three meters could be achieved based on the proposed method.关键词
多机器人系统/分布式系统/相对定位/声源定位Key words
Multi-robot system/distributed system/relative localization/sound source localization引用本文复制引用
吴玉秀,孟庆浩,曾明..基于声音的分布式多机器人相对定位[J].自动化学报,2014,(5):798-809,12.基金项目
国家自然科学基金(61271321,60875053),教育部博士点基金(20120032110068),天津市科技支撑计划项目(14ZCZDSF00025)资助 （61271321,60875053）
Supported by National Natural Science Foundation of China (61271321,60875053), Doctoral Programs Foundation of the Ministry of Education of China (20120032110068), and Tianjin Key Technology Research and Development Program (14ZCZDS F00025)国家自然科学基金(61271321,60875053),教育部博士点基金(20120032110068),天津市科技支撑计划项目(14ZCZDSF00025)资助Supported by National Natural Science Foundation of China (61271321,60875053), Doctoral Programs Foundation of the Ministry of Education of China (20120032110068), and Tianjin Key Technology Research and Development Program (14ZCZDS F00025) （61271321,60875053）
