期刊
MEASUREMENT
卷 195, 期 -, 页码 -出版社
ELSEVIER SCI LTD
DOI: 10.1016/j.measurement.2022.111068
关键词
Relative Positioning; Multi-Robot System; Ultra-Wide Band (UWB); Graph Optimization
资金
- National Key Research and Devel-opment Program of China [2018YFB2002300]
- Key Research Program of Frontier Science, CAS [ZDBS-LY-JSC028]
This paper proposes a novel graph optimization and UWB range based relative positioning and orientation estimation framework, which improves the estimation performance for multi-robot systems in anchor-free and GNSS-denied environments with high accuracy and robustness.
The relative position and orientation estimation is one of the most fundamental components for multi-robot systems, while it still remains an open and challenging research topic in infrastructure-free environments. In this paper, a novel graph optimization and UWB range based relative positioning and orientation estimation framework is proposed, which improves the estimation performance with a sliding window for multi-robot system in anchor-free and GNSS-denied environment. Single shot estimation capability of relative position and orientation benefits from the single robot - multi tags structure, which greatly improves the robustness and adaptability of the system. Real-site experiments demonstrates that our system can achieve centimeter-level relative positioning performance, and the influence of distance between nodes and the number of nodes on system performance is fully discussed through simulation, which lays a comprehensive preparation for future practical application.
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