Ros Based Cooperative Localization Method For Heterogeneous Multi-Robots

With the development of computer technology and artificial intelligence,mobile robot has been widely used in the areas of space exploration,industry,military,service,medical and so on.Due to the limitations of the individual robot capabilities,multi-robots collaboration technique has received increasing research interests,where the cooperative localization is one of the fundamental issues for multi-robots collaboration.The key issue is how to improve the localization accuracy,efficiency and stability.The main idea of heterogeneous multi-robots cooperative localization is that some robots with advanced localization capability use their own sensors and wireless communication equipment to achieve group localization by applying cooperative approaches.The main work of this thesis focuses on the following five aspects in view of the research problem of the cooperative localizationfor heterogeneous multi-robots.1.In view of the shortcomings of existing mobile robot platforms with poor scalability and low code reusability,a mobile robot platform is built up based on ROS(Robot Operating System),which can provide the hardware and software foundation for the realization of the proposed algorithms.2.For the problem of imprecise localization and system instability for a heterogeneous multi robot system with a single sensor,a cooperative localization system based on the covariance intersection(CI)fusion method is presented,which help improve the robustness of the localization system.3.Because the process noise is unknown and the accuracy of CI fusion is not adequate,the cooperative localization system of heterogeneous multi robots is inaccurate.A cooperative location method for heterogeneous multi-robots based on optimal distributed fusion is design to solve the problem.4.An experiment platform is constructed by using two wheeled mobile robot systems,and the software system is developed under the environment of robot operating system(ROS).Then,relevant experiments are developed to show the performance of the proposed algorithm.The experiment results demonstrate the effectiveness and robustness of the proposed algorithms.5.The summary and prospect of the work in the thesis are provided.