智能系统学报Issue(1)：138-142,5.DOI:10.3969/j.issn.1673-4785.201310067
无线传感器环境下粒子群优化的多机器人协同定位研究
Cooperative multi-robot localization based on particle swarm optimization in the environment of wireless sensor
摘要
Abstract
Cooperative localization is an important technique of multi-robot ’ s autonomous behavior .In this paper , the multi-robot cooperative localization algorithm based on the optimization of particle swarm optimization under wireless sensor network environment is described .The resampling algorithm is introduced to solve the problem of particle depletion , enlarge the scope of solution space and guarantee the diversity of population .The introduction of inertia weight provides a solution for the particle degradation .Simulation results showed that by using the particle swarm optimization algorithm , which is supported by wireless sensor network to assist navigation and integrating ro-bots’ observation information , the spatial dimensions of the problem can be reduced .In addition, the accuracy of robot localization can be improved effectively under the background of Gaussian noise .关键词
粒子群优化/多机器人/协同定位/无线传感器网络/重采样/惯性权重/多信息融合/适应度函数Key words
particle swarm optimization/multi-robot/cooperative localization/wireless sensor network/resampling/inertia weight/multiple information fusion/fitness function分类
信息技术与安全科学引用本文复制引用
程磊,周明达,吴怀宇,李杰,王永骥..无线传感器环境下粒子群优化的多机器人协同定位研究[J].智能系统学报,2015,(1):138-142,5.基金项目
国家自然科学基金资助项目（60705035，61075087，61203331）；湖北省重点实验室开放基金重点资助项目（ Z201102）；河南省高等学校控制工程重点学科开放基金资助项目（ KG2011-01）；湖北省教育厅科研计划重点资助项目（ D20131105）；湖北省科技计划自然科学基金重点资助项目（2010CDA005）． （）
