TY - GEN
T1 - Multi-Robot Distributed Cooperative Localization Using UWB/INS Integration
AU - Yu, Xiaoyang
AU - Li, Tuan
N1 - Publisher Copyright:
© 2025 Copyright held by the owner/author(s)
PY - 2025/6/2
Y1 - 2025/6/2
N2 - For the distributed cooperative localization (CL) problem of multirobot in complex environments with poor satellite positioning signals, a distributed CL (DCL) method based on covariance transfer is proposed. By combining the mobile robot’s inertial navigation system (INS) and the relative distance information measured by Ultra-Wide Band (UWB), an extended Kalman filter (EKF) equation is established for each robot. The error estimates obtained are used to correct the results of the INS, achieving distributed processing of cooperative information from multirobot and improving localization accuracy. Experimental results show that the proposed DCL method enhances the positioning accuracy of mobile robots. The root mean square error (RMSE) is reduced by up to approximately 40% compared to the INS position estimation, and the stability is better than traditional methods, with performance close to that of centralized CL algorithms.
AB - For the distributed cooperative localization (CL) problem of multirobot in complex environments with poor satellite positioning signals, a distributed CL (DCL) method based on covariance transfer is proposed. By combining the mobile robot’s inertial navigation system (INS) and the relative distance information measured by Ultra-Wide Band (UWB), an extended Kalman filter (EKF) equation is established for each robot. The error estimates obtained are used to correct the results of the INS, achieving distributed processing of cooperative information from multirobot and improving localization accuracy. Experimental results show that the proposed DCL method enhances the positioning accuracy of mobile robots. The root mean square error (RMSE) is reduced by up to approximately 40% compared to the INS position estimation, and the stability is better than traditional methods, with performance close to that of centralized CL algorithms.
KW - distributed cooperative localization
KW - EKF
KW - multirobot
KW - UWB/INS integration
UR - https://www.scopus.com/pages/publications/105021349060
U2 - 10.1145/3727648.3727732
DO - 10.1145/3727648.3727732
M3 - Conference contribution
AN - SCOPUS:105021349060
T3 - Proceedings of the 4th International Conference on Computer, Artificial Intelligence and Control Engineering, CAICE 2025
SP - 511
EP - 516
BT - Proceedings of the 4th International Conference on Computer, Artificial Intelligence and Control Engineering, CAICE 2025
PB - Association for Computing Machinery, Inc
T2 - 4th International Conference on Computer, Artificial Intelligence and Control Engineering, CAICE 2025
Y2 - 10 January 2025 through 12 January 2025
ER -