H∞ Filter Based Cooperative Localization for Multi-Robot System

This paper addresses the problem of multi-robot cooperative localization in non-Gaussian noise environments. Traditionally, the Kalman filter (KF) based algorithms are used as solutions to cooperative localization (CL) problems. However, the KF algorithms cannot obtain accurate state estimation when...

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Bibliographic Details
Published in2024 43rd Chinese Control Conference (CCC) pp. 4493 - 4497
Main Authors Yang, Guoliang, Zeng, Jin, Wei, Dengfeng, Liu, Yiyang, Wang, Heng
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 28.07.2024
Subjects
Accuracy
Cooperative Localization
Filtering algorithms
H∞ filter
Location awareness
Multi-robot systems
Prediction algorithms
Robustness
Systems modeling
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Summary:This paper addresses the problem of multi-robot cooperative localization in non-Gaussian noise environments. Traditionally, the Kalman filter (KF) based algorithms are used as solutions to cooperative localization (CL) problems. However, the KF algorithms cannot obtain accurate state estimation when noises are non-Gaussian. To deal with this issue, an H_{\infty} filter based cooperative localization algorithm is proposed. Unlike the KF algorithm, the H_{\infty} filter algorithm does not require the assumption of Gaussian noise, thus achieving better localization accuracy for non-Gaussian scenarios. The effectiveness of the proposed algorithm is demonstrated through simulation examples.
ISSN:1934-1768
DOI:10.23919/CCC63176.2024.10662373