| 摘要: |
| 多机器人协同系统的编队队形影响系统的可观测性，应用中发现系统绝对定位能力也是影响协同定位精度的主要因素。针对系统不可观测情况下无法实现协同定位问题，提出了通过增强系统绝对定位能力实现协同定位的方法，重点分析了不同绝对定位能力的多机器人协同定位系统的可观测性对定位精度的影响，确定了系统可观测性的最佳条件。以3个机器人组成的集群为例进行仿真验证了同一观测度情况下，系统的绝对定位能力越强，协同定位精度越高。 |
| 关键词: 多机器人协同系统 编队队形 定位能力 协同定位 |
| DOI：10.20079/j.issn.1001-893x.230417003 |
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| 基金项目:中央军委科学技术委基础加强计划（2020-JCJQ-JJ-217） |
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| Observability and Co-positioning Accuracy Analysis of Multi-robot Systems |
| ZHU Kuibao,WEN Ziqing,DI Shiyan,ZHANG Feng,GUO Guangyuan,KANG Haonan |
| (1.School of Electrical Engineering,Hebei University of Science and Technology,Shijiazhuang 050018,China;2.The Second Academy of China Aerospace Science and Industry Corporation,Beijing 100854,China) |
| Abstract: |
| The formation of multi-robot collaborative system affects the observability of the system,and it is found that the absolute positioning ability of the system is also the main factor affecting the accuracy of collaborative positioning(co-positioning).For the problem that co-positioning cannot be realized under the condition that the system is not observable,a method is proposed to achieve co-positioning by enhancing the absolute positioning capability of the system.The influence of observability on positioning accuracy of multi-robot collaborative positioning system with different absolute positioning capabilities is analyzed,and the optimal conditions for system observability are determined.By aking a cluster of three robots as an example,it is verified that under the same observation degree,the stronger the absolute positioning ability of the system,the higher the co-location accuracy. |
| Key words: multi-robot collaborative system formation positioning ability collaborative positioning |
