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Indexed by:期刊论文

Date of Publication:2013-07-01

Journal:CONTROL ENGINEERING PRACTICE

Included Journals:SCIE、EI、Scopus

Volume:21

Issue:7

Page Number:953-961

ISSN No.:0967-0661

Key Words:Multi-robot cooperative localization; Robust extended H-infinity filtering (REHF); Metric-based Iterative Closest Point (MbICP); Laser data interaction

Abstract:Multi-robot cooperative localization serves as an essential task for a team of mobile robots to work within an unknown environment. Based on the real-time laser scanning data interaction, a robust approach is proposed to obtain optimal multi-robot relative observations using the Metric-based Iterative Closest Point (MbICP) algorithm, which makes it possible to utilize the surrounding environment information directly instead of placing a localization-mark on the robots. To meet the demand of dealing with the inherent non-linearities existing in the multi-robot kinematic models and the relative observations, a robust extended H-infinity filtering (REHF) approach is developed for the multi-robot cooperative localization system, which could handle non-Gaussian process and measurement noises with respect to robot navigation in unknown dynamic scenes. Compared with the conventional multi-robot localization system using extended Kalman filtering (EKF) approach, the proposed filtering algorithm is capable of providing superior performance in a dynamic indoor environment with outlier disturbances. Both numerical experiments and experiments conducted for the Pioneer3-DX robots show that the proposed localization scheme is effective in improving both the accuracy and reliability of the performance within a complex environment. (C) 2013 Elsevier Ltd. All rights reserved.