一种多移动机器人主动协同定位方法的研究

An Active Cooperative Localization Method for Mobile Robots

根据机器人之间的相对位置关系,设计了一种适用于多机器人协同定位的动态结构,在此基础上提出了基于决策论的多机器人行为协调方法,使机器人在定位过程中可以根据已获得的信息自主调整自己的行为,从而获得更多有益于定位的观测信息.通过引入协同进化自适应粒子滤波器,机器人可以稳定地跟踪自己以及其他机器人的位置假设,便于其主动定位时做出正确的决策.实验证明该方法能显著提高多机器人定位的效率和成功率.

The dynamically evolving coordination architecture was specially designed according to the relative positions between robots,on the basis of which an active cooperative mechanism using decision theory was proposed,so that the robots were able to select their action actively during the localization process and get more useful information to improve their localization speed and precision.The co-evolution based adaptive particle filter was used to make the robots track the multi-hypothesis of their own positions and their partners′ positions stably,which was of great importance for making proper decision in active localization.Experiments were carried out to prove the efficiency and stability of the proposed method.