Detection of Multi-Active Markers and Pose for Formation Control
- Detection of Multi-Active Markers and Pose for Formation Control
- 김동주; 최종석; 박민용
- Relative Localization; Active Marker; formation control
- Issue Date
- This paper represents a part of outdoor localization method based on relative information: heading angle and
distance to apply to formation control for multi-agent robots. Well known are the researches about formation control for
multi-agent robots using various sensors: window GPSs, ultra-sonic sensors and a camera with color markers, but those
methods mostly could be applied on special environment and have restrictions or much expensive. The proposed
method would be expected to overcome those problems. To avoid electronic or natural illumination disturbance in the
image-processing, we used active markers (four bright LED arrays) and considered only their ON/OFF time period to
obtain the pose. In this paper, experimental results will show that the algorithm is possible to be applied.
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- KIST Publication > Conference Paper
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