Release Time:2019-03-09  Hits:

Indexed by: Journal Article

Date of Publication: 2013-07-01

Journal: CONTROL ENGINEERING PRACTICE

Included Journals: Scopus、EI、SCIE

Volume: 21

Issue: 7

Page Number: 953-961

ISSN: 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.