[1]WU Ming,LI Linlin,LI Chengjian.An algorithm of multi robot cooperative object tracking based on covariance intersection[J].CAAI Transactions on Intelligent Systems,2013,8(1):66-73.[doi:10.3969/j.issn.1673-4785.201204022]
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An algorithm of multi robot cooperative object tracking based on covariance intersection

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 8 Number of periods: 2013 1 Page number: 66-73 Column: 学术论文—智能系统 Public date: 2013-03-25
Title:
An algorithm of multi robot cooperative object tracking based on covariance intersection
Author(s):
WU Ming;  LI Linlin;  LI Chengjian
Command Information Engineering Department, The Second Artillery Engineering College, Xi′an 710025, China
Keywords:
robots;  multi robot cooperation;  object tracking algorithm;  covariance intersection
CLC:
TP242.6
DOI:
10.3969/j.issn.1673-4785.201204022
Abstract:
In order to solve the problem of multirobot cooperative object tracking in unknown environments, a distributed algorithm based on covariance intersection data fusion was proposed in this paper. To the single robot, states of robot and object in an unknown environment are simultaneously estimated using a full covariance extended Kalman filter. As the robot finds a partner, it will estimate the state of the partner according to observation and then send the state collectively with object state to the partner. Once the partner verifies the incoming information, the relevant local state is updated using data fusion algorithm based on a covariance intersection. Since the covariance between different states is not needed， and therefore the algorithm was distributed. The improvement in estimation precision of the robot state, environment characteristic state and object state using this approach was verified through the simulation results.
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