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Alternative TitleMulti-resolution and particle filter based global cooperated localization method
殷鹏1,2,3; 何玉庆1,2; 韩建达1,2; 徐卫良1,2,4
Source Publication中国科学:技术科学
Indexed ByEI ; CSCD
EI Accession number20192006920097
Contribution Rank1
Funding Organization国家自然科学基金(批准号: U1508208, U1608253, 61473282)
Keyword协同定位 迭代最近邻 粒子滤波 GPS缺失
Other AbstractCooperation & coordination among heterogeneous robots (e.g., UAV & UGV, UAV & USV) have obtained extensive attentions due to its greatly enhanced perception ability, especially when facing complicated and unstructured outdoor environments. For multi-type robots cooperation task in the GPS-denied environment, cooperate localization is one of the most important task with great challenges which combine the aspects of data collection of different type sensors, adaption to the environment feature and perspective variation. In this paper, we proposed a multi-resolution enhanced cooperated localization method for the multi-type robots task. Based on multiresolution iterative closest point (MRICP) and particle filter (PF), the proposed method could achieve a fast cooperation localization even without a given initial pose estimation. Firstly, a new registration evaluation function is introduced to value the registration efficiency and registration tendency. Secondly, to handle the posterior distribution problem in the PF based global localization, a map updater model is taken to control map scale, resolution level and the particles size to balance the registration efficiency and accuracy. Thirdly, a self-adoption particle resample scheme could deal with the sample impoverishment/degeneracy problem. Experiments with an unmanned aerial vehicle (UAV) and an unmanned surface vehicle (USV) are conducted for cooperate localization test at a water bay, and the results are analyzed to verify the feasibility and validity of the proposed method.
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Document Type期刊论文
Corresponding Author韩建达
4.Department of Mechanical Engineering,University of Auckland
Recommended Citation
GB/T 7714
殷鹏,何玉庆,韩建达,等. 基于多分辨率粒子滤波的全局协同定位方法[J]. 中国科学:技术科学,2019,49(1):87-96.
APA 殷鹏,何玉庆,韩建达,&徐卫良.(2019).基于多分辨率粒子滤波的全局协同定位方法.中国科学:技术科学,49(1),87-96.
MLA 殷鹏,et al."基于多分辨率粒子滤波的全局协同定位方法".中国科学:技术科学 49.1(2019):87-96.
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