CAJ | 학술논문

研究了多机器人观测到同一目标时的协同定位问题。建立了各个机器人相对观测一致程度的数学描述模型，进而提出用基于极大熵准则的最大熵博弈获取使相对观测一致程度最优的协同定位方式。针对博弈结果的多样性，相应地改变观测方程的雅克比矩阵，推导了可适应多机器人各种博弈结果的扩展Kalman滤波协同定位算法。仿真实验表明，方法可实现机器人团队在协同定位时有选择、更高效地共享相互间的观测信息；在保证协同定位精度提高的同时有效地消除了多机器人相对观测信息间的冲突。
연구료다궤기인관측도동일목표시적협동정위문제。건립료각개궤기인상대관측일치정도적수학묘술모형，진이제출용기우겁대적준칙적최대적박혁획취사상대관측일치정도최우적협동정위방식。침대박혁결과적다양성，상응지개변관측방정적아극비구진，추도료가괄응다궤기인각충박혁결과적확전Kalman려파협동정위산법。방진실험표명，방법가실현궤기인단대재협동정위시유선택、경고효지공향상호간적관측신식；재보증협동정위정도제고적동시유효지소제료다궤기인상대관측신식간적충돌。
The problem of cooperative localization in the situation when an object is detected by robots simultaneously was studied.As each robot has its own relative observation about the object,a mathematical model for comparing the consistency of these relative observations was presented.With that method,a new cooperative localization algorithm based on maximum entropy gaming and Extended Kalman Filter(EKF)was proposed.As the gaming results are different,the EKF equations that can match any gaming result were derived.Several simulation results showing that the proposed algorithm can improve the localization performance and avoid the relative observations conflict problem in cooperative localization in the meantime.