An active cooperative localization method for mobile robots

作者：Huang, Qing-Cheng^*; Luo, Rong-Hua

来源：Acta Electronica Sinica, 2010, 38(11): 2644-2648.

• Adaptive particle filters
• Co-evolution
• Cooperative localization
• Cooperative mechanisms
• Coordination architecture
• Multi-robot systems
• Particle filter
• Relative positions
• Robot localization

The dynamically evolving coordination architecture was specially designed according to the relative positions between robots, on the basis of which an active cooperative mechanism using decision theory was proposed, so that the robots were able to select their action actively during the localization process and get more useful information to improve their localization speed and precision. The co-evolution based adaptive particle filter was used to make the robots track the multi-hypothesis of their own positions and their partners' positions stably, which was of great importance for making proper decision in active localization. Experiments were carried out to prove the efficiency and stability of the proposed method.

• 出版日期2010-11
• 单位华南理工大学