重庆理工大学学报（自然科学版）2018，Vol.32Issue(3)：236-241,6.DOI:10.3969/j.issn.1674-8425(z).2018.03.032
基于分散式EKF的多机器人协同定位
Cooperative Localization Approach for Robots Based on Decentralized Extended Kalman Filter
摘要
Abstract
Aiming at the problem of poor fault tolerance of existing centralized EKF algorithms,a decentralized EKF based cooperative localization algorithm for multi-robots is proposed.The proposed method uses a decentralized data structure,to make each robot as a processing node,and to deal with the local information by utilizing the Extended Kalman Filter independently;the robot's own motion information and mutual measurement information between the robots are splited to each processing nodes,and each processing nodes only updates the parameters that related to its own state,for the meaning of not letting any single outworked node to affect the whole system.The simulation result indicates that the method ensures the great fault tolerance as well as guarantees the effectiveness of cooperative localization.关键词
多机器人/协同定位/EKF/分散式数据结构Key words
robots/cooperative localization/Extened Kalman Filter/decentralized data structure分类
信息技术与安全科学引用本文复制引用
卓书芳,何用辉,吴燕峰..基于分散式EKF的多机器人协同定位[J].重庆理工大学学报（自然科学版）,2018,32(3):236-241,6.基金项目
福建省科技计划重大项目(2014H6006) （2014H6006）
福建省中青年教师科技计划项目(JAT160732,JAT170933) （JAT160732,JAT170933）
