基于通信修正的三维机器人定位算法  

Communication-iteration-based Three-dimensional Localization Method in Multi-robot System

作　　者：王自力[1] 郑鑫[2] WANG Zili;ZHENG Xin(Department of Information Department of Information Engineering, Zhumadian Career Technical College, Zhumadian Henan 463000,China;Information Engineering Institute, Huanghuai University, Zhumadian Henan 463000, China)

机构地区：[1]驻马店职业技术学院信息工程系,河南驻马店463000 [2]黄淮学院信息工程学院,河南驻马店463000

出　　处：《机床与液压》2019年第9期89-93,共5页Machine Tool & Hydraulics

基　　金：河南省青年骨干教师资助计划项目(2015GGJS-300)

摘　　要：机器人定位是多机器人系统的基本任务。为此,提出简单的非标杆三维机器人定位(Simple non-landmark Three-Dimensional Localization, SLTL)算法。每个机器人仅安装简单的通信设备。每个机器人的初始估计位置是随机的,然后对初始估计位置进行迭代修正。每个迭代过程有通信阶段和修正阶段。在通信阶段,节点获取一跳和二跳邻居节点所估计的位置信息。然后进入修正阶段。在修正阶段,节点依据通信阶段所获取的信息,引用虚拟引力或斥力、波动力对初始位置进行修正。通过多次迭代修正,最终实现机器人定位。实验数据表明,提出的SLTL算法能够有效地实现机器人定位。此外,通过实验数据可得最优通信半径值。Robots must often localize their positions in order to complete a task in multi-robot system. Therefore, a Simple non-landmark Three-Dimensional(3 D) Localization(SLTL) method is proposed. Each robot was equipped with only a communication device having a certain communication range. Initially, each robot estimated its own position randomly, then each robot modified its position the basis of the received data. Every step was divided into two phases, the communication phase and modification phase. In communication phase, each robot obtained its neighbors‘estimated positions position and its second neighbors’ estimated positions. In modification phase afterwards, each robot modified its initial position based on received data for joints in communication, with application of virtual attractive force, repulsive force and wave force. Through many times of iteration, localization of robots were finally realized. Simulation results demonstrated that the proposed SLTL algorithm can effectively estimate the position of robot. In addition, there is an optimal communication range, in which the localization is extremely precise.

关 键 词：多机器人系统 机器人定位 引力 斥力 位置修正 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]