基于声音的分布式多机器人相对定位

提出了一种基于声音的分布式多机器人相对定位方法.首先，每个机器人通过声源定位算法估计发声机器人在其局部坐标系下的坐标；然后，每个机器人（不含发声机器人）通过无线通信方式将发声机器人在其坐标系下的坐标广播给所有其他机器人，通过坐标变换每个机器人可计算出所有其他机器人在其坐标系下的坐标，从而实现分布式相对定位.理论推导及实验证明只要两个机器人先后发声，通过本文所提方法即可实现多机器人相对定位.室内外环境中采用6个自制小型移动机器人实验表明，所提方法在3米的范围内可实现16厘米的相对定位精度.

Sound Based Relative Localization for Distributed Multi-robot Systems

A sound-based relative localization method for distributed multi-robot systems is proposed. Firstly, each robot estimates the location of the sounding robot in its local coordinate system via a sound-source localization algorithm. Secondly, each robot (except the sounding robot) sends the local coordinate to all the other robots via wireless communication, and then each robot calculates the locations of all the other robots in its local coordinate system using coordinate transformation, thus the distributed relative localization is realized. Theoretical derivation and experiments prove that as long as any two robots send sounds successively, the relative localization of multi-robot systems can be realized using the proposed method. Experiments in indoor and outdoor environments using six self-made small mobile robots show that a relative localization accuracy of sixteen centimeters within a range of three meters could be achieved based on the proposed method.