TY - JOUR
T1 - Robot-to-robot relative pose estimation from range measurements
AU - Zhou, Xun S.
AU - Roumeliotis, Stergios I.
PY - 2008/11/12
Y1 - 2008/11/12
N2 - In this paper, we address the problem of determining the 2-D relative pose of pairs of communicating robots from 1) robot-to-robot distance measurements and 2) displacement estimates expressed in each robot's reference frame. Specifically, we prove that for nonsingular configurations, the minimum number of distance measurements required for determining all six possible solutions for the 3 degree-of-freedom (3-DOF) robot-to-robot transformation is 3. Additionally, we show that given four distance measurements, the maximum number of solutions is 4, while five distance measurements are sufficient for uniquely determining the robot-to-robot transformation. Furthermore, we present an efficient algorithm for computing the unique solution in closed form and describe an iterative least-squares process for improving its accuracy. Finally, we derive necessary and sufficient observability conditions based on Lie derivatives and evaluate the performance of the proposed estimation algorithms both in simulation and via experiments.
AB - In this paper, we address the problem of determining the 2-D relative pose of pairs of communicating robots from 1) robot-to-robot distance measurements and 2) displacement estimates expressed in each robot's reference frame. Specifically, we prove that for nonsingular configurations, the minimum number of distance measurements required for determining all six possible solutions for the 3 degree-of-freedom (3-DOF) robot-to-robot transformation is 3. Additionally, we show that given four distance measurements, the maximum number of solutions is 4, while five distance measurements are sufficient for uniquely determining the robot-to-robot transformation. Furthermore, we present an efficient algorithm for computing the unique solution in closed form and describe an iterative least-squares process for improving its accuracy. Finally, we derive necessary and sufficient observability conditions based on Lie derivatives and evaluate the performance of the proposed estimation algorithms both in simulation and via experiments.
KW - Distance measurement
KW - Lie derivatives
KW - Observability of nonlinear systems
KW - Relative pose estimation
KW - Robot kinematics
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U2 - 10.1109/TRO.2008.2006251
DO - 10.1109/TRO.2008.2006251
M3 - Article
AN - SCOPUS:58249135347
VL - 24
SP - 1379
EP - 1393
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
SN - 1552-3098
IS - 6
ER -