Open AccessTable-Based Matching Algorithm for Localization and Orientation Estimation of Multi-Robot System
Author(s) -
Ola A. Hasan,
Abdulmuttalib T. Rashid,
Ramzy S. Ali
Publication year - 2019
Publication title -
iraqi journal for electrical and electronic engineering/al-maǧallaẗ al-ʻirāqiyyaẗ al-handasaẗ al-kahrabāʼiyyaẗ wa-al-ilikttrūniyyaẗ
Language(s) - English
Resource type - Journals
eISSN - 2078-6069
pISSN - 1814-5892
DOI - 10.37917/ijeee.15.1.6
Subject(s) - beacon , orientation (vector space) , table (database) , robot , computer science , matching (statistics) , computer vision , frame (networking) , artificial intelligence , construct (python library) , node (physics) , blossom algorithm , template matching , algorithm , point (geometry) , mathematics , real time computing , engineering , image (mathematics) , geometry , data mining , statistics , telecommunications , structural engineering , programming language
In this paper, a new algorithm called table-based matching for multi-robot (node) that used for localization and orientation are suggested. The environment is provided with two distance sensors fixed on two beacons at the bottom corners of the frame. These beacons have the ability to scan the environment and estimate the location and orientation of the visible nodes and save the result in matrices which are used later to construct a visible node table. This table is used for matching with visible-robot table which is constructed from the result of each robot scanning to its neighbors with a distance sensor that rotates at 360°; at this point, the location and identity of all visible nodes are known. The localization and orientation of invisible robots rely on the matching of other tables obtained from the information of visible robots. Several simulations implementation are experienced on a different number of nodes to submit the performance of this introduced algorithm.