Comparative Analysis of Multi-robot Cooperative Localization Technology

The distributed algorithm based on consensus is commonly used to track a moving target in wireless sensor networks. In this paper, we try to apply it to cooperative localization by analogizing robots as nodes in a multi-sensor network to build a multi-robot system, robots exchange information between neighbours only, and achieve more precise localization through information fusion. And we detail two distributed algorithms based on consensus. In order to address the problem of low precision caused by the time-varying statistical characteristics of the noise of each subsystem, we proposes an improved distributed state estimation based on consensus-estimation, which use the covariance intersection method to process multi-source data. Finally, we build a simulation platform and a practicality experiment platform, and design experiment schemes to compare the advantages and disadvantages of these algorithms.