Analysis of multirobot localization uncertainty propagation
Analysis of multirobot localization uncertainty propagation
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DOI：
10.1109/iros.2003.1248899
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发表时间：
2003-12
期刊：
影响因子：
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通讯作者：
S. Roumeliotis;Ioannis M. Rekleitis
中科院分区：
文献类型：
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作者：
S. Roumeliotis;Ioannis M. Rekleitis
研究了大群移动机器人情况下的协作定位问题。实现了卡尔曼滤波估值器，并对其进行了测试。本文的重点是考察参与机器人的数量N和传感器的精度对定位精度的影响。更具体地说，我们调查了随着团队规模的增加，每个额外机器人在定位精度方面的改进。此外，我们还给出了N个机器人组成的团队的定位不确定度增长率上界的解析表达式，它是N、每个机器人的里程和方位不确定度以及机器人跟踪器测量机器人对之间相对位置的精度的函数。本文的分析结果在不同测试用例的仿真中得到了验证。
This paper deals with the problem of cooperative localization for the case of large groups of mobile robots. A Kalman filter estimator is implemented and tested for this purpose. The focus of this paper is to examine the effect on localization accuracy of the number N of participating robots and the accuracy of the sensors employed. More specifically, we investigate the improvement in localization accuracy per additional robot as the size of the team increases. Furthermore, we provide an analytical expression for the upper bound on the positioning uncertainty increase rate for a team of N robots as a function of N, the odometric and orientation uncertainty for each robot, and the accuracy of a robot tracker measuring relative positions between pairs of robots. The analytical results derived in this paper are validated in simulation for different test cases.