System Development & Application
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App. Res. of Comp. Printed Article
Vol. 40, 2023 No. 3
839-844

Relative localization method for multiple robots based on single UWB fusion odometry

Deng Zhongyuana,b
Liu Rana,b
Cao Zhiqianga
Xiao Yufenga,b
a. School of Information Engineering, b. Robot Technology Used for Special Environment Key Laboratory of Sichuan Province, Southwest University of Science & Technology, Mianyang Sichuan 621000, China
DOI: 10.19734/j.issn.1001-3695.2022.07.0381

Abstract

Aiming at the problem of relative positioning among multiple robots in GPS-denied, no pre-set infrastructure(positioning base stations, landmarks, etc. ) environment, this paper proposed a multi robot relative positioning method based on a single ultra-wideband(UWB) fusion odometry. To obtain relative pose estimates between robots, the method constructed a nonlinear least squares problem by utilizing sliding window to intercept range information between robots and poses predicted by odometry over a period of time. In addition, the method estimated the odometry covariance by utilizing extended Kalman filter and weighted it in a nonlinear optimization to suppress the cumulative odometry error in a sliding window. Finally, it used the general graph optimization(g2o) algorithm to further optimize the relative position and attitude obtained by integrating odometry and nonlinear optimization, which effectively suppressed the influence of UWB measurement error, so as to obtain stable relative positioning results. The experimental results show that the proposed method can achieve an average relative position accuracy of 0.32 m and relative angle accuracy of 4.16° in an indoor environment with the size of 6 m×12 m. Compared with the existing multiple robot relative positioning schemes, the proposed method has the advantages of high accuracy, low cost, simple deployment and strong robustness.

Foundation Support

国家自然科学基金资助项目(12205245,12175187)
国家重点研发计划资助项目(2019YFB1310805)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2022.07.0381
Publish at: Application Research of Computers Printed Article, Vol. 40, 2023 No. 3
Section: System Development & Application
Pages: 839-844
Serial Number: 1001-3695(2023)03-032-0839-06

Publish History

[2022-10-19] Accepted Paper
[2023-03-05] Printed Article

Cite This Article

邓忠元, 刘冉, 曹志强, 等. 基于单UWB融合里程计的多机器人相对定位方法 [J]. 计算机应用研究, 2023, 40 (3): 839-844. (Deng Zhongyuan, Liu Ran, Cao Zhiqiang, et al. Relative localization method for multiple robots based on single UWB fusion odometry [J]. Application Research of Computers, 2023, 40 (3): 839-844. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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