现代电子技术Issue(23)：95-98,4.
基于EKF和PF的多机器人协同定位技术
Multi-robots co-localization technique based on EKF and PF
摘要
Abstract
The positioning capacity is a prerequisite to complete the tasks,no matter for single-robot or multi-robots sys-tems. It is difficult for common location technique to meet the requirements of mobile robot groups in high co-localization accura-cy and strong real-time. A hybrid location technique based on Extended Kalman Filter(EKF)and Particle Filter(PF)is pro-posed. The multi-robots are motion modeling,then the basic principle of robot co-localization based on EKF or PF and their ad-vantages and disadvantages are discussed respectively. On this basis,another co-localization based on the combination of EKF and PF is proposed. The experiment result shows that this method is effectively in solving the contradiction between positioning accuracy and calculation under some condition. And when the initial condition is unknown or the errors is large,the multi-robots co-localization can also be rapidly and precisely.关键词
多机器人系统/协同定位/扩展卡尔曼滤波/粒子滤波Key words
multi-robot system/co-operative localization/EKF/PF分类
信息技术与安全科学引用本文复制引用
田红兵,樊光南,宋龙..基于EKF和PF的多机器人协同定位技术[J].现代电子技术,2013,(23):95-98,4.基金项目
甘肃省工信委专项资金资助 （）
