摘要
Anewformationnavigationapproachderivedfrommulti-robotscooperativeonlineFastSLAMisproposed.Inthisapproach,theleaderandfollowerrobotsaredefined.Theposterioriestimationoftheleaderrobotstateistreatedasarelativereferenceforallfollowerrobotstocorrecttheirstateprioriestimations.Thecontrolvolumeofindividualfollowerwillbeachievedfromtheresultsofthecorrectedestimation.Allrobotsareobservedaslandmarkswithknownassociationsbytheothersandareconsideredintheirlandmarksupdating.Bythemethod,theerrorsoftherobotposteriorestimationsarereducedandtheformationiswellkept.Thesimulationandphysicalexperimentresultsshowthatthemulti-robotsrelativelocalizationaccuracyisimprovedandtheformationnavigationcontrolismorestableandefficientthannormalleader-followingstrategy.Thealgorithmiseasyinimplementation.
出版日期
2012年04月14日(中国期刊网平台首次上网日期,不代表论文的发表时间)