Probabilistic Trajectory Estimation based Leader Following for Multi-Robot Systems
The paper is concerned with the multi-robot leader-following problem in the presence of frequent dropouts in vision detection. In many scenarios, for instance a structured environment, it is inevitable to experience outage of vision detection due to reasons such as the target moving out of view, vis...
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| Main Authors: | , , , , , , |
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| Other Authors: | |
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2017
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/82415 http://hdl.handle.net/10220/42306 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | The paper is concerned with the multi-robot leader-following problem in the presence of frequent dropouts in vision detection. In many scenarios, for instance a structured environment, it is inevitable to experience outage of vision detection due to reasons such as the target moving out of view, vision occlusion, motion blurring, etc. The paper proposes a Bayesian trajectory estimation based leader-following approach that can offer accurate path following given intermittent vision observations. The follower robot estimates the trajectory of the leader robot based on the noise-corrupted odometry information of both robots, and inter-robot relative observations based on detection of fiducial markers using an RGBD camera. A linear trajectory-following control method is employed to track a historical pose of the leader robot on the estimated trajectory. Results are obtained based on evaluating the proposed leader-following approach in tests with a zig-zag shaped trajectory and with a trajectory that contains sharp turns. |
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