Abstract
The Multiple Mobile Robot (MMR) cooperative system is becoming a focus of study in various fields due to its advantages, such as high efficiency and good fault tolerance. However, the uncertainty and nonlinearity problems severely limit the cooperative localization accuracy of the MMR system. Thus, to solve the problems mentioned above, this manuscript presents a cooperative localization algorithm for MMR systems based on Cubature Kalman Filter (CKF) and adaptive Variance Component Estimation (VCE) methods. In this novel algorithm, a nonlinear filter named CKF is used to enhance the cooperative localization accuracy and reduce the computational load. On the other hand, the adaptive VCE method is introduced to eliminate the effects of unknown system noise. Furthermore, the performance of the proposed algorithm is compared with that of the cooperative localization algorithm based on normal CKF by utilizing the real experiment data. In addition, the results demonstrate that the proposed algorithm outperforms the CKF cooperative localization algorithm both in accuracy and consistency.
Highlights
In recent years, with the development of robot technology, network communication technology and automatic control technology, the Multiple Mobile Robot (MMR) cooperative system has attracted the attention of many researchers
In order to overcome the influence on cooperative localization accuracy caused by the uncertainty of measurement noise and the nonlinearity for the MMR system at the same time, the adaptive Variance Component Estimation (VCE)
Method was introduced to cubature Kalman filter, proposing a novel cooperative localization algorithm based on the adaptive VCKF method in this manuscript
Summary
With the development of robot technology, network communication technology and automatic control technology, the Multiple Mobile Robot (MMR) cooperative system has attracted the attention of many researchers. Velocity, attitude and other motion information of each mobile robot is one of the basic premises of the MMR cooperative system [3,4]. This means that it requires the ability of self-localization for each mobile robot. The MMR cooperative system could achieve the goal of localization by each mobile robot separately and the localization accuracy just depends on the accuracy of the navigation system that is equipped on each mobile robot This kind of localization scheme is simple to achieve, the localization accuracy is limited by the insufficiency of information sharing [5,6]. Survivability, and reliability into account, the distributed manner is superior to the centralized manner [17,18]
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