Research Of Multi Robots Cooperative Localization And Target Tracking Based On SRCKF

With the development of robot technology,More and more scholars pay attention to the multiple mobile robot system for its high operating efficiency,strong robustness and wide range of applications.The mobile robot can apperceive unknown complex environment while building models and modifying the pose of its own,which is the presuppose and foundation of autonomous navigation for robots.Many tasks in reality are difficult to solve by the traditional positioning problem,which requires the combination of mobile robot localization and target tracking methods.This paper is devoted to solving two coupling problem:the estimation of the robot's own state and that of the target state.Furthermore,this paper focus on two key issues of collaborative localization and target tracking,the corresponding models are established for these two items,the corresponding optimization algorithm is proposed,the simulation experiments are carried out and the experimental results are analyzed.In terms of cooperative localization of robots,the architecture and communication methods for multi mobile robot cooperation are analyzed.To solve the problem of poor robustness and low efficiency in the exploration of the unknown complex environment for a single mobile robot,as well as the defects of poor real-time and low positioning accuracy in cooperative localization algorithm from the existing multi robot,a cooperative localization algorithm based on the square root cubature kalman filter for the relative position multi robot is proposed,which take the relative orientation as the measured value,in the update process,the root mean square and the square root of the covariance matrix are passed directly,which helps improve the accuracy and stability.,because the numerical integration method based on the volume criterion is used while calculating the mean value and variance,the computational complexity is reduced and the real-time performance is improved.The simulation results show the accuracy and effectiveness of the proposed algorithm.In terms of multi robot cooperative target tracking,to solve the problems of numerical instability,large amount of computation and poor accuracy in the process of dynamic target tracking of mobile robot in unknown complex environment,a dynamic target tracking algorithm based on square root cubature kalman filter for mobile robot is proposed.The system state of the algorithm is composed of the characteristics of the map environment,the robot and the target as a whole,which can effectively reduce the influence of the pseudo observations on the system state estimation through the data link.The simulation results show that the algorithm is reasonable and feasible.considering the problem of multi robot cooperative target tracking in unknown environment,a multi robot cooperative target tracking algorithm based on covariance intersection is proposed.This algorithm has distributed characteristics,It is not necessary to assume the independence of data information while improving the accuracy of state estimation,which avoids the inter correlation estimation of object state,and reduces the communication energy loss and computational complexity.The simulation results show that the algorithm can effectively solve the problem of multi robot cooperative target tracking in unknown environment.