基于分散式卡尔曼滤波的多机器人协同定位
Multi-robot co-localization based on decentralized Kalman filtering
朱奎宝 1张峰 1温紫晴 1卢文涛 2郭广源 1康浩楠1
作者信息
- 1. 河北科技大学电气工程学院,河北石家庄 050018
- 2. 北京计算机技术及应用研究所,北京海淀 100854
- 折叠
摘要
针对机器人导航过程中惯性导航误差随时间积累影响定位精度问题,提出了一种基于分散式卡尔曼滤波的多机器人协同导航算法,该算法将自身导航信息与观测得到的相对测量信息以及其他机器人的导航信息进行融合,实现自身导航信息的校正.该算法不存在中央处理单元,降低了计算量,提高了系统稳定性.利用MATLAB软件平台对算法进行了仿真验证,结果表明该算法提高了多机器人之间的协同定位精度,具有一定的抗干扰性.
Abstract
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.
关键词
分散式卡尔曼滤波/协同导航/相对测量信息/抗干扰性Key words
Decentralized Kalman filtering/Collaborative navigation/Relative measurement information/Anti-interference引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据