Decentralized Cooperative Localization with Fault Detection and Isolation in Robot Teams
Robot localization, particularly multirobot localization, is an important task for multirobot teams. In this paper, a decentralized cooperative localization (DCL) algorithm with fault detection and isolation is proposed to estimate the positions of robots in mobile robot teams. To calculate the inte...
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-10-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/18/10/3360 |
| _version_ | 1811300671530467328 |
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| author | Mei Wu Hongbin Ma Xinghong Zhang |
| author_facet | Mei Wu Hongbin Ma Xinghong Zhang |
| author_sort | Mei Wu |
| collection | DOAJ |
| description | Robot localization, particularly multirobot localization, is an important task for multirobot teams. In this paper, a decentralized cooperative localization (DCL) algorithm with fault detection and isolation is proposed to estimate the positions of robots in mobile robot teams. To calculate the interestimate correlations in a distributed manner, the split covariance intersection filter (SCIF) is applied in the algorithm. Based on the split covariance intersection filter cooperative localization (SCIFCL) algorithm, we adopt fault detection and isolation (FDI) to improve the robustness and accuracy of the DCL results. In the proposed algorithm, the signature matrix of the original FDI algorithm is modified for application to DCL. A simulation-based comparative study is conducted to demonstrate the effectiveness of the proposed algorithm. |
| first_indexed | 2024-04-13T06:55:47Z |
| format | Article |
| id | doaj.art-1f51cf434f174d9cb286bd9e78a6b2ae |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-13T06:55:47Z |
| publishDate | 2018-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-1f51cf434f174d9cb286bd9e78a6b2ae2022-12-22T02:57:16ZengMDPI AGSensors1424-82202018-10-011810336010.3390/s18103360s18103360Decentralized Cooperative Localization with Fault Detection and Isolation in Robot TeamsMei Wu0Hongbin Ma1Xinghong Zhang2State Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, ChinaState Key Laboratory of Intelligent Control and Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, ChinaDepartment of Automatic Control, Henan Institute of Technology, Xinxiang 453000, ChinaRobot localization, particularly multirobot localization, is an important task for multirobot teams. In this paper, a decentralized cooperative localization (DCL) algorithm with fault detection and isolation is proposed to estimate the positions of robots in mobile robot teams. To calculate the interestimate correlations in a distributed manner, the split covariance intersection filter (SCIF) is applied in the algorithm. Based on the split covariance intersection filter cooperative localization (SCIFCL) algorithm, we adopt fault detection and isolation (FDI) to improve the robustness and accuracy of the DCL results. In the proposed algorithm, the signature matrix of the original FDI algorithm is modified for application to DCL. A simulation-based comparative study is conducted to demonstrate the effectiveness of the proposed algorithm.http://www.mdpi.com/1424-8220/18/10/3360robot localizationmobile robotdistributed cooperative localizationfault detection and isolation |
| spellingShingle | Mei Wu Hongbin Ma Xinghong Zhang Decentralized Cooperative Localization with Fault Detection and Isolation in Robot Teams Sensors robot localization mobile robot distributed cooperative localization fault detection and isolation |
| title | Decentralized Cooperative Localization with Fault Detection and Isolation in Robot Teams |
| title_full | Decentralized Cooperative Localization with Fault Detection and Isolation in Robot Teams |
| title_fullStr | Decentralized Cooperative Localization with Fault Detection and Isolation in Robot Teams |
| title_full_unstemmed | Decentralized Cooperative Localization with Fault Detection and Isolation in Robot Teams |
| title_short | Decentralized Cooperative Localization with Fault Detection and Isolation in Robot Teams |
| title_sort | decentralized cooperative localization with fault detection and isolation in robot teams |
| topic | robot localization mobile robot distributed cooperative localization fault detection and isolation |
| url | http://www.mdpi.com/1424-8220/18/10/3360 |
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