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Multirobot Collaborative Navigation Algorithms Based on OdometerVision Information Fusion
Joint Authors
Liu, Guohua
Guan, Juan
Liu, Haiying
Wang, Chenlin
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-27
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
Collaborative navigation is the key technology for multimobile robot system.
In order to improve the performance of collaborative navigation system, the collaborative navigation algorithms based on odometer/vision multisource information fusion are presented in this paper.
Firstly, the multisource information fusion collaborative navigation system model is established, including mobile robot model, odometry measurement model, lidar relative measurement model, UWB relative measurement model, and the SLAM model based on lidar measurement.
Secondly, the frameworks of centralized and decentralized collaborative navigation based on odometer/vision fusion are given, and the SLAM algorithms based on vision are presented.
Then, the centralized and decentralized odometer/vision collaborative navigation algorithms are derived, including the time update, single node measurement update, relative measurement update between nodes, and covariance cross filtering algorithm.
Finally, different simulation experiments are designed to verify the effectiveness of the algorithms.
Two kinds of multirobot collaborative navigation experimental scenes, which are relative measurement aided odometer and odometer/SLAM fusion, are designed, respectively.
The advantages and disadvantages of centralized versus decentralized collaborative navigation algorithms in different experimental scenes are analyzed.
American Psychological Association (APA)
Liu, Guohua& Guan, Juan& Liu, Haiying& Wang, Chenlin. 2020. Multirobot Collaborative Navigation Algorithms Based on OdometerVision Information Fusion. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1196308
Modern Language Association (MLA)
Liu, Guohua…[et al.]. Multirobot Collaborative Navigation Algorithms Based on OdometerVision Information Fusion. Mathematical Problems in Engineering No. 2020 (2020), pp.1-16.
https://search.emarefa.net/detail/BIM-1196308
American Medical Association (AMA)
Liu, Guohua& Guan, Juan& Liu, Haiying& Wang, Chenlin. Multirobot Collaborative Navigation Algorithms Based on OdometerVision Information Fusion. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1196308
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1196308