Distributed robots localization and cooperative target tracking

摘要

This paper focuses on solving the problem of determining relative poses of the N cooperative sensors which include both mobile and stationary, along with position of targets. In the proposed approach, multi robots in a sensor network cooperate with each other in order to localize the position of each target and guide the robot to its assigned target position. The relative poses of neighboring sensors including target will be visually estimated and communicated with to other nearby sensors in the network. In addition, a network communication protocol was developed and implemented based on minimum hardware configuration. The localization and the tracking performance of our proposed approach was evaluated in our experimental hardware set-up.