CAJ | 학술논문

传统的多机器人协同定位研究大多采用"主从式"模型,它要求给主机器人配备许多昂贵且不易获得的高精度定位设备,这在实际应用中有很大的局限性.针对这一问题,通过对多机器人"并行式"协同定位模型的分析,建立了机器人群体协同定位的线性传感器约束模型.在满足传感器约束条件下,利用线性规划算法得到了系统内每一机器人的不确定区域.理论推导和仿真结果表明,该定位算法较高精度地实现了机器人群体的协同定位,且具有成本低、精度较高等工程实用价值.
전통적다궤기인협동정위연구대다채용"주종식"모형,타요구급주궤기인배비허다앙귀차불역획득적고정도정위설비,저재실제응용중유흔대적국한성.침대저일문제,통과대다궤기인"병행식"협동정위모형적분석,건립료궤기인군체협동정위적선성전감기약속모형.재만족전감기약속조건하,이용선성규화산법득도료계통내매일궤기인적불학정구역.이론추도화방진결과표명,해정위산법교고정도지실현료궤기인군체적협동정위,차구유성본저、정도교고등공정실용개치.
Most of traditional methods to research cooperative localization for multi-robot systems use "LeaderFollows" model.That is,in order to obtain high-precision localization,the primary robot needs equipping with various localization equipments with high accuracy.However,the sophisticated equipment is always expensive and difficult to obtain,which has great limitations in practical applications.In this paper,we propose a novel localization algorithm by constructing the sensor linear constraints model for the multi-robot systems based on studying the "Parallel" cooperative localization model.By using linear programming algorithm and satisfying the sensor constraints for every single robot in the system,the uncertainty region can be obtained.Finally,the theoretical and simulation results show that the proposed algorithm can achieve a high precision localization for multi-robot systems and has good practical value such as low cost,high-precision.