A collaborative localization tolerant to recognition error by double-check particle exchange |
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Authors: | Takashi Matsubara Masao Kubo Yusuke Murachi |
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Affiliation: | 1. Department of Computer Science, National Defense Academy, 1-10-20 Hashirimizu, Yokosuka, Kanagawa, Japan
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Abstract: | Statistical algorithms using particle filters for collaborative multi-robot localization have been proposed. In these algorithms,
by synchronizing every robot’s belief or exchanging particles of the robots with each other, fast and accurate localization
is attained. These algorithms assume correct recognition of other robots, and the effects of recognition errors are not discussed.
However, if the recognition of other robots is incorrect, a large amount of error in localization can occur. This article
describes this problem. Furthermore, an algorithm for collaborative multi-robot localization is proposed in order to cope
with this problem. In the proposed algorithm, the particles of a robot are sent to other robots according to measurement results
obtained by the sending robot. At the same time, some particles remain in the sending robot. Particles received from other
robots are evaluated using measurement results obtained by the receiving robot. The proposed method is tolerant to recognition
error by the remaining particles and evaluating the exchanged particles in the sending and receiving robots twice, and if
there is no recognition error, the proposed method increases the accuracy of the estimation by these two evaluations. These
properties of the proposed method are argued mathematically. Simulation results show that incorrect recognition of other robots
does not cause serious problems in the proposed method. |
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