基于超宽带与激光雷达的通信受限多机器人分布式相对定位
Distributed Relative Localization Based on Ultra-WideBand and LiDAR for Multi-robot with Limited Communication
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中文总结 AI 辅助
针对无GPS且通信受限环境中同类多机器人的相对定位难题，提出基于UWB与LiDAR的分布式相对定位方法，经实验验证可实现良好定位精度。
中文摘要 AI 辅助
相对定位对于多机器人系统协同执行探索、编队等任务至关重要，但在无GPS且通信受限的环境中，外观相似的同类机器人实现相对定位极具挑战性。本文提出一种基于机载超宽带（UWB）与激光雷达（LiDAR）的机器人团队完全分布式相对位置估计方法：利用LiDAR获取视距（LOS）内匿名物体的位置，UWB用于机器人间测距；构建UWB连接图与LiDAR连接图，分别基于UWB和LiDAR测量表示物体（机器人与障碍物）间的空间关系，将识别与相对位置估计建模为公共子图匹配问题；设计误匹配机器人识别方法，以识别LiDAR视场中障碍物遮挡导致的误匹配结果，再借助匹配正确的机器人及UWB连接图中的UWB测距测量对这些机器人进行定位。实验结果表明，所提方法仅通过交换有限信息，即可分布式实现机器人团队的良好定位精度。
英文摘要
Relative localization is crucial for a multi-robot system to collaboratively perform tasks, such as exploration and formation. However, this is highly challenging for homogeneous robots with similar appearance in GPS-denied and communication-limited environments. In this paper, we propose a fully distributed relative position estimation approach for a team of robots based on onboard UWB and LiDAR sensors, in which LiDAR is utilized to obtain the position of anonymous objects in Line-of-Sight (LOS), and UWB is used for ranging between robots. We construct two graphs, namely UWB connection graph and LiDAR connection graph, to represent the spatial relationship among objects (robots and obstacles) based on UWB and LiDAR measurements. Identification and relative position estimation are formulated as a common subgraph matching problem. A falsely-matched robot identification approach is designed to recognize the falsely-matched results caused by obstacle blockage in LiDAR field of view. These robots are then localized by leveraging the well-matched robots and the UWB ranging measurements in the UWB connection graph. We conducted experiments to evaluate the performance of our approach. The results show that the proposed approach is capable of achieving satisfactory positioning accuracy for a team of robots in a distributed manner with only exchanging limited information.
发表机构
- Singapore University of Technology and Design（新加坡科技设计大学）
- Nanyang Technological University（南洋理工大学）
机构由 AI 辅助整理，请以论文原文为准。
