群机器人协同定位的异质性研究

A. Pires, D. Macharet, L. Chaimowicz
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引用次数: 5

摘要

协作定位允许机器人组通过在团队内共享位置估计来提高它们的整体定位。在Swarm Robotics中,大量非常简单的agent被用于执行不同类型的任务,然而,这种简单性可能会对估计的定位产生直接影响。在这项工作中,我们考虑使用具有改进定位能力(例如GPS)的单个机器人(领导者),这将用于增强群体其余部分的位置估计。通过使用潜在函数,我们能够将领导者放置在最有利于其位置广播的区域(靠近中心),并且通过控制这个统一来执行整个群体的协调和连续运动。在模拟环境中进行了大量试验,并对最终结果进行了统计检查。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Exploring heterogeneity for cooperative localization in Swarm Robotics
Cooperative localization allows groups of robots to improve their overall localization by sharing position estimates within the team. In Swarm Robotics a large number of very simple agents is used to perform different types of tasks, however, this simplicity may have a direct impact on the estimated localization. In this work, we consider the use of a single robot (leader) with improved localization capability (e.g. GPS) which will be used to enhance the position estimates of the rest of the group. By using a potential function, we are able to place the leader in the region (near the center) that best benefits its position broadcasting and also to execute a coordinated and continuous movement of the entire group by controlling only this unity. Numerous trials in a simulated environment were executed, providing statistical examination of the final results.
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