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| 基于线性规划算法的多机器人系统的协同定位 | |
| 引用本文： | 李闻白,刘明雍,赵涛,裴譞. 基于线性规划算法的多机器人系统的协同定位[J]. 计算机仿真, 2010, 27(3): 151-155 |
| 作者姓名： | 李闻白 刘明雍 赵涛 裴譞 |
| 作者单位： | 1. 西北工业大学航海学院,陕西,西安,710072 2. 中国兵器工业集团第二零二研究所,陕西,咸阳,712099 |
| 基金项目： | 国家863基金(2007AA809502C);;教育部新世纪优秀人才计划资助(NCET-06-0877) |
| 摘 要： | 传统的多机器人协同定位研究大多采用主从式模型,它要求给主机器人配备许多昂贵且不易获得的高精度定位设备,这在实际应用中有很大的局限性。针对这一问题,通过对多机器人并行式协同定位模型的分析,建立了机器人群体协同定位的线性传感器约束模型。在满足传感器约束条件下,利用线性规划算法得到了系统内每一机器人的不确定区域。理论推导和仿真结果表明,该定位算法较高精度地实现了机器人群体的协同定位,且具有成本低、精度较高等工程实用价值。 |
| 关 键 词： | 多机器人系统 协同定位 “主从式” “并行式” 线性规划算法 不确定区域 |
Cooperative Localization for Multi-robot Systems Based on Linear Programming Algorithm |
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| LI Wen-bai,LIU Ming-yong,ZHAO Tao,PEI Xuan. Cooperative Localization for Multi-robot Systems Based on Linear Programming Algorithm[J]. Computer Simulation, 2010, 27(3): 151-155 | |
| Authors: | LI Wen-bai LIU Ming-yong ZHAO Tao PEI Xuan |
| Affiliation: | 1.College of Marine/a>;Northwesten Polytechnical University/a>;Xi'an Shanxi 710072/a>;China/a>;2.NO.202 Institute of China Ordnance Industry Group Corporation/a>;Xianyang Shanxi 712099/a>;China |
| Abstract: | Most of traditional methods to research cooperative localization for multi-robot systems use Leader-Follows model.That is,in order to obtain high-precision localization,the primary robot needs equipping with various localization equipments with high accuracy.However,the sophisticated equipment is always expensive and difficult to obtain,which has great limitations in practical applications.In this paper,we propose a novel localization algorithm by constructing the sensor linear constraints model for the mul... |
| Keywords: | Multi-robot systems Cooperative localization Leader-follows Parallel Linear programming algorithm Uncertainty region |
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