Abstract
Multi-robot cooperative localization is an important research topic in mobile robotics. This paper mainly studies the problem of cooperative localization based on environment information interaction in unknown complex environment. Considering the effect of robot motion state on the cooperative localization, we present an algorithm for adaptive selecting periods of the cooperative localization based on autonomous motion state estimation. In order to avoid equipping an extra localization marker on the robot which is needed for direct observation between robots, and to make full use of the interactive information between robots in the same scene, a method for obtaining multi-robot observations based on MbICP algorithm is proposed, which makes multirobot cooperative localization using EKF feasible and reliable in cluttered environment. Experiment results with the Pioneer 3-DX robots and data analysis show the method’s validity and practicability.
Similar content being viewed by others
References
Fox D, Burgard W, Kruppa H, et al. A probabilistic approach to collaborative multi-robot localization. In: Special Issue of Autonomous Robots on Heterogeneous Multi-Robot Systems. Netherland: Springer, 2000, 8: 325–344
Stroupe A W, Martin M C, Balch T. Distributed sensor fusion for object position estimation by multi-robot systems. In: Proc IEEE Int Conf on Robotics and Automation. Seoul, Korea, 2001. 1092–1098
Howard A, Mataric M J, Sukhatme G S. Localization for mobile robot teams using maximum likelihood estimation. In: Proc IEEE Int Conf on Intelligent Robot and Systems. Lausanne, Switzerland, 2002. 2849–2854
Rekleitis I M, Dudek G, Milios E E. Multi-robot cooperative localization: a study of trade-off between efficiency and accuracy. In: Proc IEEE Int Conf on Intelligent Robot and Systems. Lausanne, Switzerland, 2002. 2690–2695
Roumeliotis S I, Bekey G A. Distributed multirobot localization. IEEE Trans Robot Autom, 2002, 18: 781–795
Martinelli A, Pont F, Siegwart R. Multi-robot localization using relative observations. In: Proc IEEE Int Conf on Robotics and Automation. Barcellona, Spain, 2005. 2797–2802
Kondaxakis P, Ruiz V F, Harwin W S. Compensation of observability problem in a multi-robot localization scenario using CEKF. In: Proc IEEE/RSJ Int Conf on Intelligent Robot and Systems. Sendai, Japan, 2004. 1762–1767
Wang L, Wan J, Liu Y, et al. Cooperative localization method for multi-robot based on PF-EKF. Sci China Ser F-Inf Sci, 2008, 51: 1125–1137
Nerurkar E D, Roumeliotis S I, Martinelli A. Distributed maximum a posteriori estimation for multi-robot cooperative localization. In: Proc IEEE Int Conf on Robotics and Automation. Kobe, Japan, 2009. 1042–1049
Mourikis A I, Roumeliotis S I. Optimal sensor scheduling for resource-constrained localization of mobile robot formations. IEEE Trans Robot, 2006, 22: 917–931
Mourikis A I, Roumeliotis S I. Performance analysis of multirobot cooperative localization. IEEE Trans Robot, 2006, 22: 666–681
Minguez J, Montesano L, Lamiraux F. Metric-based iterative closest point scan matching for sensor displacement estimation. IEEE Trans Robot, 2006, 22: 1047–1054
Bengtsson O, Baerveldt A J. Robot localization based on scan-matching-estimating the covariance matrix for the IDC algorithm. Robot Autonom Syst, 2003, 44: 29–40
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Zhuang, Y., Gu, M., Wang, W. et al. Multi-robot cooperative localization based on autonomous motion state estimation and laser data interaction. Sci. China Inf. Sci. 53, 2240–2250 (2010). https://doi.org/10.1007/s11432-010-4096-4
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11432-010-4096-4