Multi-robot cooperative localization based on particle swarm optimization

Abstract

According to different perceptions and processing abilities of heterogeneous robots,an approach to multi-robot cooperative localization was presented based on particle swarm optimization.Through the particle swarm algorithm combined with the standard particle filter,the prediction of particles was updated,and the proposal distribution and the weight of particles were adjusted based on the relative observations to enhance the effectiveness of the position prediction and improve the localization accuracy.The online experimential results prove that the improved method is correct and feasible.