Multi-mobile-robot cooperation positioning method based on filtering of MAPSO particle optimization filtering

A mobile robot, cooperative positioning technology, applied in two-dimensional position/channel control and other directions, can solve the problems of high target dimension, many extremum values ​​of the target function, and it is difficult to accurately converge to the global optimal value.
CN103970135AInactive Publication Date: 2014-08-06CHONGQING UNIV OF POSTS & TELECOMM
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
CHONGQING UNIV OF POSTS & TELECOMM
Publication Date
2014-08-06
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a multi-robot cooperation positioning method based on an MAPSOPF algorithm. The method includes the steps that an actual operating environment is abstracted into a planar graph, and according to the position of a road sign and the paths of robots, an environmental map is built; relevant information and blackboard information of the robots are initialized; the MAPSOPF algorithm is adopted, the subsequent positions of the robots are predicted according to a fitness value, the predicted positions and the blackboard information are updated, and accurate positioning is completed. By adjusting weighing coefficients and learning factors, a competition mechanism is introduced so that the optimization effect of the algorithm can be improved, and finally, multi-robot coordination positioning accuracy is improved.
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Description

technical field

[0001] The invention relates to a multi-mobile robot cooperative positioning method, in particular to a multi-agent particle swarm optimization (MAPSO) particle filter algorithm-based multi-mobile robot cooperative positioning method. Background technique

[0002] Cooperative localization of multiple mobile robots is a typical and general multi-robot problem, and it is an important part of simultaneous localization and mapping of multiple robots. Multi-robot collaborative positioning technology has been widely used in aerospace, industry and agriculture, flexible manufacturing and other fields. At present, there are many algorithms to solve the cooperative positioning problem of multiple mobile robots, mainly including genetic algorithm, Kalman filter algorithm, particle filter algorithm and so on. The genetic algorithm is easy to fall into a local minimum, and the algorithm has a strong dependence on the selection of parameters; the Kalman filter algorithm ...

Claims

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