• KSII Transactions on Internet and Information Systems
    Monthly Online Journal (eISSN: 1976-7277)

An A2CL Algorithm based on Information Optimization Strategy for MMRS


Abstract

Multiple Mobile Robots System (MMRS) has shown many attractive features in lots of real-world applications that motivate their rapid and wide diffusion. In MMRS, the Cooperative Localization (CL) is the basis and premise of its high-performance task. However, the statistical characteristics of the system noise should be already known in traditional CL algorithms, which is difficult to satisfy in actual MMRS because of the numerous of disturbances form the complex external environment. So the CL accuracy will be reduced. To solve this problem, an improved Adaptive Active Cooperative Localization (A2CL) algorithm based on information optimization strategy for MMRS is proposed in this manuscript. In this manuscript, an adaptive information fusion algorithm based on the variance component estimation under Extended Kalman filter (VCEKF) method for MMRS is introduced firstly to enhance the robustness and accuracy of information fusion by estimating the covariance matrix of the system noise or observation noise in real time. Besides, to decrease the effect of observation uncertainty on CL accuracy further, an observation optimization strategy based on information theory, the Model Predictive Control (MPC) strategy, is used here to maximize the information amount from observations. And semi-physical simulation experiments were carried out to verity the A2CL algorithm’s performance finally. Results proved that the presented A2CL algorithm based on information optimization strategy for MMRS cannot only enhance the CL accuracy effectively but also have good robustness.


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Cite this article

[IEEE Style]
Q. Dong, Y. Li, Q. Sun and Y. Tian, "An A2CL Algorithm based on Information Optimization Strategy for MMRS," KSII Transactions on Internet and Information Systems, vol. 14, no. 4, pp. 1603-1623, 2020. DOI: 10.3837/tiis.2020.04.011.

[ACM Style]
Qianhui Dong, Yibing Li, Qian Sun, and Yuan Tian. 2020. An A2CL Algorithm based on Information Optimization Strategy for MMRS. KSII Transactions on Internet and Information Systems, 14, 4, (2020), 1603-1623. DOI: 10.3837/tiis.2020.04.011.