Abstract
Mobile robot localization is taken into account as one of the most important topics in robotics. In this paper, the localization problem is extended to the cases in which estimating the position of multi robots is considered. To do so, the Joint Probabilistic Data Association Filter approach is applied for tracking the position of multiple robots. To characterize the motion of each robot, we First develop a simple near constant velocity model and then a variable velocity based model is devised. The latter improves the performance of tracking when the robots change their velocity and conduct maneuvering movements. This in turn gives an advantage to explore the movement of the manoeuvring objects which is common in many robotics problems such as soccer or rescue robots. To highlight the merit of the proposed algorithm, we performed some case studies. Simulation results approve the efficiency of the algorithm in tracking multiple mobile robots with maneuvering movements.
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Gorji, A., Menhaj, M.B., Shiry, S. (2009). Multiple Target Tracking for Mobile Robots Using the JPDAF Algorithm. In: Koutsojannis, C., Sirmakessis, S. (eds) Tools and Applications with Artificial Intelligence. Studies in Computational Intelligence, vol 166. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88069-1_5
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DOI: https://doi.org/10.1007/978-3-540-88069-1_5
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