Multi-robot co-localization based on decentralized Kalman filtering
Aiming at the problem that the accumulation of inertial navigation error affects the positioning accuracy with time in the process of robot navigation,a multi-robot collaborative navigation algorithm based on distributed Kalman filter is proposed,which inte-grates its own navigation information with the observed relative measurement information and the navigation information of other robots to realize the correction of its own navigation information.The algorithm does not have a central processing unit,which reduces the amount of computation and improves the stability of the system.The simulation verification of the algorithm is carried out by using the MATLAB software platform,and the results show that the algorithm improves the co-positioning accuracy between multiple robots and has certain anti-interference.
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