Communication related design considerations of WSN-aided Multi-Robot SLAM
Küçük Resim Yok
Tarih
2011
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Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
This paper presents the communication related design considerations of Wireless Sensor Network (WSN) aided Multi-Robot Simultaneous Localization and Mapping (SLAM). In this approach, multiple robots perform WSN-aided cooperative SLAM using only range values to landmarks in the environment by measuring the Received Signal Strength Indicator (RSSI) of the received radio messages, and odometry information. The SLAM algorithm proposed in this study uses the Rao-Blackwellized Particle Filters. In addition, the inherent communication problems in WSNs, and their effects on cooperative SLAM are explained in detail and shown with the results of The Network Simulator (ns-2) simulations. © 2011 IEEE.
Açıklama
IEEE Industrial Electronics Society;Istanbul Technical University;FESTO;STM;aselsan
2011 IEEE International Conference on Mechatronics, ICM 2011 -- 13 April 2011 through 15 April 2011 -- Istanbul -- 86249
2011 IEEE International Conference on Mechatronics, ICM 2011 -- 13 April 2011 through 15 April 2011 -- Istanbul -- 86249
Anahtar Kelimeler
Map Merging; Mobile Robot; Ns-2; Slam; Wsns, Communication Problems; Design Considerations; Map Merging; Multiple Robot; Multirobots; Network Simulators; Ns-2; Odometry; Radio Messages; Rao-Blackwellized Particle Filter; Received Signal Strength Indicators; Simultaneous Localization And Mapping; Slam; Slam Algorithm; Wsns; Communication; Computer Simulation; Industrial Robots; Machine Design; Mathematical Techniques; Mechatronics; Multipurpose Robots; Wireless Sensor Networks; Robotics
Kaynak
2011 IEEE International Conference on Mechatronics, ICM 2011 - Proceedings
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