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Single Beacon-Based Localization With Constraints and Unknown Initial Poses.

Authors :
Wang, Sen
Gu, Dongbing
Chen, Ling
Hu, Huosheng
Source :
IEEE Transactions on Industrial Electronics; Apr2016, Vol. 63 Issue 4, p2229-2241, 13p
Publication Year :
2016

Abstract

This paper studies a single beacon-based three-dimensional multirobot localization (MRL) problem. Unlike most of existing localization algorithms which use extended Kalman filter or maximum a posteriori, moving horizon estimation (MHE), and convex optimization are novelly designed to perform MRL with constraints and unknown initial poses. The main contribution of this paper is three-fold: 1) a constrained MHE-based localization algorithm, which can bound localization error, impose various constraints and compromise between computational complexity and estimator accuracy, is proposed to estimate robot poses; 2) constrained optimization is examined in the perspective of Fisher information matrix to analyze why and how multirobot information and constraints are able to reduce uncertainties; 3) a semidefinite programming-based initial pose estimation, which can efficiently converge to global optimum, is developed by using convex relaxation. Simulations and experiments are conducted to verify the effectiveness of the proposed methods. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
02780046
Volume :
63
Issue :
4
Database :
Complementary Index
Journal :
IEEE Transactions on Industrial Electronics
Publication Type :
Academic Journal
Accession number :
113814323
Full Text :
https://doi.org/10.1109/TIE.2015.2499253