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.

Inactive Publication Date: 2014-08-06
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

In a large-scale multi-robot system, there are many behavior control parameters to be optimized, that is, the optimization target has a high dimension and many extreme values ​​of the ob

Method used

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

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Embodiment Construction

[0019] A non-limiting embodiment is given below in conjunction with the accompanying drawings to further illustrate the present invention.

[0020] refer to figure 1 As shown, the present invention uses the method of combining the complete network structure and the blackboard mechanism to realize the cooperative positioning task of multi-robots in the static environment, and the specific implementation steps are as follows:

[0021] Step 1: Abstract the actual operating environment into a plane map, and build an environment map based on the location of the landmarks and the path of the robot. Mark road signs with ID numbers so that robots can detect road sign information.

[0022] Step 2: According to the environment information obtained in step 1, initialize the simulation environment, robot position information and blackboard information. Arbitrarily set 8 landmark locations on the map, and set the path of each robot at the same time. Initialize the particle swarm as a 3*...

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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.

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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Application Information

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IPC IPC(8): G05D1/02
Inventor 唐贤伦李腊梅虞继敏刘想德张毅张莉王福龙
Owner CHONGQING UNIV OF POSTS & TELECOMM
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