基于主动信标和航位推测法的多机器人位置最优估计

Optimal Position Estimation of Multirobots Based on Active Beacon and Dead-Reckoning

针对一种新的多机器人交替定位方式,研究基于主动信标和航位推测法的多机器人位置估计算法.指定多机器人中的3个保持静止作为信标机器人(不一定始终是同样3个机器人),其它机器人作为移动机器人.通过超声波测距得到移动机器人与3个信标机器人的距离,并通过IEKF(iterated EKF)算法将距离信息和移动机器人的航位推测信息相融合,实现移动机器人位置的最佳估计.轮流交换机器人作为主动信标的角色,即可实现多机器人的位置估计.实验验证结果表明,移动机器人的位置估计误差在±10 mm之内;该方法有效,且不需要在环境中设置固定信标,可应用于未知环境.

For a new alternate localization method of multirobots, an optimal position estimation method of multirobots based on active beacon and dead-reckoning is discussed. Three out of the multiple robots are always kept still and act as beacons（ not always the same three robots） while the others act as mobile robots. The mobile robots get respectively their distance from the three beacon robots with the ultrasonic measuring module on it. Then with the IEKF algorithm, the distance data and the dead-reckoning data of the mobile robot are fused together to get the optimal estimation of the position for the mobile robot. By taking the robots act as beacons in turn, it can realize the position estimation of multirobots. The experimental results show that the error of the position estimation is within ±10 mm, which verifies the method＇ s validity. This method is meaningful for applications to robots in unknown environment, as it is not necessary to put fixed beacons in the environment.