UWB-IO計測を用いた非ホロノミックロボットフォーメーションの相対姿勢推定
Relative Pose Estimation for Nonholonomic Robot Formation with UWB-IO Measurements (Extended version)
UWB距離と慣性オドメトリのみを用いて、共通座標系を必要とせずに隣接ロボット間の相対位置・姿勢を推定し、非ホロノミックロボットの分散フォーメーション制御を実現する手法を提案した。
著者: Kunrui Ze, Wei Wang, Shuoyu Yue, Guibin Sun, Kexin Liu, Jinhu Lü
分類: cs.RO
原文アブストラクト
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental limitation of most works is that they require each robot's pose and sensor measurements are expressed in a common reference frame. However, it is inapplicable for nonholonomic robot formations due to the practical difficulty of aligning IO measurements of individual robot in a common frame. To address this problem, firstly, a concurrent-learning based estimator is firstly proposed to achieve relative localization between neighboring robots in a local frame. Different from most relative localization methods in a global frame, both relative position and orientation in a local frame are estimated with only UWB ranging and IO measurements. Secondly, to deal with information loss caused by directed communication topology, a cooperative localization algorithm is introduced to estimate the relative pose to the leader robot. Thirdly, based on the theoretical results on relative pose estimation, a distributed formation tracking controller is proposed for nonholonomic robots. Both 3D and 2D real-world experiments conducted on aerial robots and grounded robots are provided to demonstrate the effectiveness of the proposed method.
