Single Beacon-Based Localization With Constraints and Unknown Initial Poses

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 wit...

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Published in:IEEE transactions on industrial electronics (1982) 2016-04, Vol.63 (4), p.2229-2241
Main Authors: Wang, Sen, Gu, Dongbing, Chen, Ling, Hu, Huosheng
Format: Article
Language:English
Subjects:
Algorithm design and analysis
Computational complexity
Estimation
Extended Kalman Filter
Localization
Optimization
Robot sensing systems
Semi-Definite Programming
State Estimation
Time measurement
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container_title IEEE transactions on industrial electronics (1982)
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creator Wang, Sen
Gu, Dongbing
Chen, Ling
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description 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.
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subjects Algorithm design and analysis
Computational complexity
Estimation
Extended Kalman Filter
Localization
Optimization
Robot sensing systems
Semi-Definite Programming
State Estimation
Time measurement
title Single Beacon-Based Localization With Constraints and Unknown Initial Poses
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