Multi-robot cooperative positioning algorithm based on square root unscented kalman filter

An unscented Kalman and multi-robot technology, applied in instruments, navigation computing tools, navigation, etc., can solve problems such as difficult to balance positioning accuracy and real-time performance, shorten algorithm time consumption, reduce computational complexity, and ensure positive semi-definite Effects on Sexuality and Numerical Stability

Inactive Publication Date: 2015-02-04
NANJING UNIV OF SCI & TECH
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Problems solved by technology

To sum up, the existing algorithms are difficult t...

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  • Multi-robot cooperative positioning algorithm based on square root unscented kalman filter
  • Multi-robot cooperative positioning algorithm based on square root unscented kalman filter
  • Multi-robot cooperative positioning algorithm based on square root unscented kalman filter

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Embodiment Construction

[0024] combine figure 2 , a multi-robot co-localization algorithm based on the square root unscented Kalman filter, first considers the situation that a queue composed of N robots moves in different directions in a two-dimensional environment, and the N robots are in the same position when exploring the environment. In order to meet the requirements of co-location and system observability, each robot needs to meet the following conditions: (1) Unobstructed movement in a two-dimensional environment, each robot is equipped with a built-in sensor for measuring its own position change (use a rotary encoder to measure the rotation angle , the ruler encoder measures the displacement per unit time); (2) Each robot is equipped with an external sensor, which can detect and identify the surrounding robots and measure the relative orientation information (using a laser rangefinder for detection, using a panoramic camera to cooperate with the robot on the Different visual markers are use...

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Abstract

The invention provides a multi-robot cooperative positioning algorithm based on a square root unscented kalman filter. The multi-robot cooperative localization algorithm comprises the following steps: 1, providing a dynamic model for automatically positioning multiple moving robots according to kinematical equations of the robots and measurement equations based on relative positions; and 2, by adopting an SR-UKF filter algorithm, wholly updating the system state by taking the relative positions as input, thereby achieving cooperative positioning of the multiple moving robots. By adopting the algorithm provided by the invention, the positioning precision and the real-time requirements of a system can be both considered, the calculation complexness is reduced, the time of the algorithm is greatly shortened, the semi-positive definiteness and the value stability of a covariance matrix are ensured, and technical support is provided for cooperative positioning of later multiple moving robots.

Description

technical field [0001] The invention relates to the field of collaborative positioning algorithms, in particular to a collaborative positioning algorithm for multiple mobile robots based on relative orientation. Background technique [0002] Multi-robot collaborative system is a hotspot in robot research in recent years, and has a very broad application prospect in the fields of industry, military, aerospace and other fields. Multi-robots observe each other, share information through information exchange, reduce dependence on the external environment, enhance the perception of a single robot in the robot group, and obtain more accurate positioning information than a single robot, which is called multi-robot. co-location. Most robot systems require the robot to have self-localization function when exploring the environment, and the self-localization problem of the autonomous mobile robot is particularly important, and it is one of its most important capabilities. [0003] D...

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/20
Inventor 王碧霞李银伢
Owner NANJING UNIV OF SCI & TECH
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