| Autor: |
Cagri Kilic, Eduardo Gutierrez, Jason N. Gross |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
|
| Zdroj: |
Navigation, Vol 70, Iss 4 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2161-4296 |
| DOI: |
10.33012/navi.608 |
| Popis: |
This paper proposes the cooperative use of zero velocity update (ZU) in a decentralized extended Kalman filter (DEKF)-based localization algorithm for multi-robot systems. The filter utilizes inertial measurement unit (IMU), ultra-wideband (UWB), and odometer-based velocity measurements to improve the localization performance of the system in a GNSS-denied environment. In this work, we evaluate the benefits of using ZU in a DEKF-based localization algorithm. The algorithm was tested with real hardware in a video motion capture facility and a robot operating system (ROS)-based simulation environment for unmanned ground vehicles (UGVs). Both simulation and real-world experiments were performed to determine the effectiveness of using ZU in one robot to reinstate the localization of the others in a multi-robot system. Experimental results from GNSS-denied simulation and real-world environments revealed that using ZU in the DEKF together with simple heuristics significantly improved the three-dimensional localization accuracy. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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