Multi-Robot Cooperative Localization with Range-Only Measurement By UWB

摘要

In order to improve the positioning accuracy of multi-robot cooperative localization with range-only measurement in Wireless Sensor Network (WSN), a framework to describe mobile agents and WSN nodes is introduced. Based on this framework, a Multi-Robot and Utral Wideband (MR-UWB) cooperative localization approach with range-only measurement is proposed. Proper agents are selected to cooperate with UWB anchors to obtain global position measurement by the minimum covariance criterion, and EKF is used to fuse encoder data, relative distance and global position measurement for accurate positioning of robot team. Simulation experiments are carried out, and the results show that MR-UWB cooperative localization approach has higher positioning accuracy than traditional multi-robot cooperative localization and UWB positioning system based on relative distance, which verifies the superiority of proposed approach.