Multi-Robot Cooperative Localization:Time-Varying Unobservable Subspace Analysis and Consistent Algorithm Design  

作　　者：HAO Ning HE Fenghua YAO Yu 

机构地区：[1]School of Astronautics,Harbin Institute of Technology,Harbin 150000,China

出　　处：《Journal of Systems Science & Complexity》2024年第5期1937-1955,共19页系统科学与复杂性学报（英文版）

摘　　要：This paper investigates the problem of cooperative localization(CL)for a multi-robot system(MRS)under dynamic measurement topology,which involves a group of robots collectively estimating their poses with respect to a common reference frame using ego-motion measurements and robot-to-robot relative measurements.The authors provide a theoretical analysis of the time-varying unobservable subspace and propose a consistent cooperative localization algorithm.First,the authors introduce the relative measurement graph(RMG)to represent the relative pose measurements obtained by the MRS at each instant.Then,the authors derive the local observability matrix over a time interval.An equivalent relationship is established between the local observability matrix and the spectral matrices of the RMG.Moreover,the authors present a method for constructing the unobservable subspace based on the RMG under different topology conditions.Based on this analysis,the authors design a consistent cooperative localization algorithm that satisfies the constraints of the time-varying unobservable subspace.An analytical optimal solution is derived for the constrained optimization problem.Monte Carlo numerical simulations are conducted to demonstrate the consistency and accuracy of the proposed method.

关 键 词：CONSISTENCY cooperative localization multi-robot system null space relative measurement graph time-varying unobservable subspace 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]