Cooperative Localization Approach for Multi-Robot Systems Based on State Estimation Error Compensation
College of Electrical Engineering, Henan University of Technology, Zhengzhou 450052, China
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Sensors 2019, 19(18), 3842; https://doi.org/10.3390/s19183842
Received: 16 July 2019
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Revised: 1 September 2019
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Accepted: 2 September 2019
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Published: 5 September 2019
(This article belongs to the Special Issue Sensors and Robot Control)
In order to improve the localization accuracy of multi-robot systems, a cooperative localization approach with communication delays was proposed in this paper. In the proposed method, the reason for the time delay of the robots’ cooperative localization approach was analyzed first, and then the state equation and measure equation were reconstructed by introducing the communication delays into the states and measurements. Furthermore, the cooperative localization algorithm using the extended Kalman filtering technique based on state estimation error compensation was proposed to reduce the state estimation error of delay filtering. Finally, the simulation and experiment results demonstrated that the proposed algorithm can achieve good performance in location in the presence of communication delay while having reduced computational and communicative cost.
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Keywords:
cooperative localization; multi-robots system; communication delays; state estimation error compensation
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MDPI and ACS Style
Zhang, S.; Cao, Y. Cooperative Localization Approach for Multi-Robot Systems Based on State Estimation Error Compensation. Sensors 2019, 19, 3842. https://doi.org/10.3390/s19183842
AMA Style
Zhang S, Cao Y. Cooperative Localization Approach for Multi-Robot Systems Based on State Estimation Error Compensation. Sensors. 2019; 19(18):3842. https://doi.org/10.3390/s19183842
Chicago/Turabian StyleZhang, Shijie, and Yi Cao. 2019. "Cooperative Localization Approach for Multi-Robot Systems Based on State Estimation Error Compensation" Sensors 19, no. 18: 3842. https://doi.org/10.3390/s19183842
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