补偿(心理学)
卡尔曼滤波器
计算机科学
机器人
控制理论(社会学)
国家(计算机科学)
度量(数据仓库)
算法
人工智能
控制(管理)
精神分析
心理学
数据库
出处
期刊:Sensors
[MDPI AG]
日期:2019-09-05
卷期号:19 (18): 3842-3842
被引量:7
摘要
In order to improve the localization accuracy of multi-robot systems, a cooperative localization approach with communication delays was proposed in this paper. In the proposed method, the reason for the time delay of the robots' cooperative localization approach was analyzed first, and then the state equation and measure equation were reconstructed by introducing the communication delays into the states and measurements. Furthermore, the cooperative localization algorithm using the extended Kalman filtering technique based on state estimation error compensation was proposed to reduce the state estimation error of delay filtering. Finally, the simulation and experiment results demonstrated that the proposed algorithm can achieve good performance in location in the presence of communication delay while having reduced computational and communicative cost.
科研通智能强力驱动
Strongly Powered by AbleSci AI