月面多机器人的分布式协同定位算法研究  

Distributed Cooperative Localization Method for Multi-Robots on Lunar Surface

作　　者：魏明珠 谢晓梅 严鹏 徐利梅 WEI Mingzhu;XIE Xiaomei;YAN Peng;XU Limei(School of Aeronautics and Astronautics,University of Electronic Science and Technology of China,Chengdu 611731,China)

机构地区：[1]电子科技大学航空航天学院

出　　处：《载人航天》2019年第5期594-599,共6页Manned Spaceflight

基　　金：国家自然科学基金(61803075);载人航天预先研究项目(17700630);中央高校基本科研项目(ZYGX2018KYQD211)

摘　　要：针对月面多机器人协同定位问题,建立了优化模型,提出了一种基于梯度的分布式步长一致算法,使每个机器人通过测量与邻居机器人的局部距离信息确定自己在网络中的位置。进行了基于测量距离信息的多机器人网络的仿真试验,结果表明,对网络中单个机器人任意给定初始位置估计值,经过该方法都可以有效获得其在网络中的全局定位;该算法也适用于移动机器人网络,静态网络定位中从给定初值到准确定位的收敛轨迹可作为多机器人移动过程的实时定位的轨迹。An optimization model for cooperative localization of multi robots on lunar surface was established and a distributed gradient based method was proposed which could enable each robot to determine its position in the network by measuring the local distance information with its neighbors.The simulation experiments of the multi-robot network based on distance measurements showed that the global positioning of each robot in a network could be effectively obtained through this method under any initial position guess.In addition,the approach could be applied to mobile robot network to drive each robot from a random initial position to designed location.

关 键 词：月面探测 多机器人系统 分布式定位 梯度下降法 

分 类 号：V467.3[航空宇航科学与技术—航空宇航制造工程]