Anzeige
Erschienen in:
2008 | OriginalPaper | Buchkapitel
Coordinated Search in Cluttered Environments Using Range from Multiple Robots
verfasst von : Geoffrey Hollinger, Joseph Djugash, Sanjiv Singh
Erschienen in: Field and Service Robotics
Verlag: Springer Berlin Heidelberg
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
In this paper, we describe real-time methods for incorporating non-line-of-sight range measurements into a framework for finding a non-adversarial target in cluttered environments using multiple robotic searchers. We extend previous coordinated search strategies to utilize information from noisy non-line-of-sight range measurements. Sensors using ultra-wideband radio are becoming available that provide range measurements to targets even when they are occluded. We present two Bayesian methods for updating the expected location of a mobile target and integrating these updates into planning. We present simulated results in a complex museum environment as well as on mobile robots. Our results show the success of our algorithms at utilizing information from measurements in a coordinated search framework.