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基于自主运动状态估计及信息交互的多移动机器人协作定位 被引量：4

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摘要 主要研究了未知动态环境中多移动机器人利用环境信息交互完成协作定位的问题.考虑移动机器人自身运行状态对协作定位的影响,提出基于自主运动状态估计的协作定位周期自适应选择算法.为避免机器人相互直接观测需要配备特定标识的局限,并充分利用处于同一场景中多机器人观测信息的可交互性,论文提出基于MbICP算法的多机器人观测信息交互方法,同时利用扩展Kalman滤波实现多机器人变速运行中的协作定位.通过应用于Pioneer3-DX机器人平台所获得的协作定位实验结果及数据分析,验证了所提方法的有效性和实用性.
作者 庄严 顾明伟 王伟 于海洋
机构地区 大连理工大学信息与控制研究中心
出处 《中国科学：信息科学》 CSCD 2010年第10期1351-1362,共12页 Scientia Sinica(Informationis)
基金 国家自然科学基金(批准号:60605023 60775048) 国家高技术研究发展计划(批准号:2007AA04Z257)资助项目
关键词 多机器人协作定位 运动状态估计 MbICP 扩展Kalman滤波
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献13

  • 1王玲,万建伟,刘云辉,邵金鑫.基于PF-EKF的多机器人合作定位方法[J].中国科学（E辑）,2007,37(12):1544-1555. 被引量：4
  • 2Dieter Fox,Wolfram Burgard,Hannes Kruppa,Sebastian Thrun.A Probabilistic Approach to Collaborative Multi-Robot Localization[J]. Autonomous Robots . 2000 (3)
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二级参考文献13

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共引文献3

同被引文献43

引证文献4

二级引证文献46

中国科学：信息科学
2010年 第10期

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