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主要研究了未知动态环境中多移动机器人利用环境信息交互完成协作定位的问题.考虑移动机器人自身运行状态对协作定位的影响,提出基于自主运动状态估计的协作定位周期自适应选择算法.为避免机器人相互直接观测需要配备特定标识的局限,并充分利用处于同一场景中多机器人观测信息的可交互性,论文提出基于MbICP算法的多机器人观测信息交互方法,同时利用扩展Kalman滤波实现多机器人变速运行中的协作定位.通过应用于Pioneer3-DX机器人平台所获得的协作定位实验结果及数据分析,验证了所提方法的有效性和实用性.
This paper mainly studies the problem that multiple mobile robots use environment information to interact and finish collaborative positioning in unknown dynamic environment.Considering the influence of self-running status of mobile robot on cooperative positioning, an adaptive selection algorithm of cooperative positioning cycle based on autonomous motion state estimation is proposed.In order to avoid robot The mutual direct observation needs to be equipped with the limitations of specific identification, and make full use of the interoperability of multi-robot observation information in the same scene. The paper presents a method of multi-robot observation information exchange based on MbICP algorithm, and uses extended Kalman filter to achieve multi-robot variable speed operation The collaborative positioning results obtained from the Pioneer3-DX robot platform and the data analysis verify the effectiveness and practicability of the proposed method.