A High-Order Kalman Filter Method for Fusion Estimation of Motion Trajectories of Multi-Robot Formation
Multi-robot motion and observation generally have nonlinear characteristics; in response to the problem that the existing extended Kalman filter (EKF) algorithm used in robot position estimation only considers first-order expansion and ignores the higher-order information, this paper proposes a mult...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-07-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/15/5590 |
| _version_ | 1797412307886669824 |
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| author | Miao Wang Weifeng Liu Chenglin Wen |
| author_facet | Miao Wang Weifeng Liu Chenglin Wen |
| author_sort | Miao Wang |
| collection | DOAJ |
| description | Multi-robot motion and observation generally have nonlinear characteristics; in response to the problem that the existing extended Kalman filter (EKF) algorithm used in robot position estimation only considers first-order expansion and ignores the higher-order information, this paper proposes a multi-robot formation trajectory based on the high-order Kalman filter method. The joint estimation method uses Taylor expansion of the state equation and observation equation and introduces remainder variables on this basis, which effectively improves the estimation accuracy. In addition, the truncation error and rounding error of the filtering algorithm before and after the introduction of remainder variables, respectively, are compared. Our analysis shows that the rounding error is much smaller than the truncation error, and the nonlinear estimation performance is greatly improved. |
| first_indexed | 2024-03-09T05:01:16Z |
| format | Article |
| id | doaj.art-93b191c4e42c4328adaf0499964e8bbc |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T05:01:16Z |
| publishDate | 2022-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-93b191c4e42c4328adaf0499964e8bbc2023-12-03T13:00:23ZengMDPI AGSensors1424-82202022-07-012215559010.3390/s22155590A High-Order Kalman Filter Method for Fusion Estimation of Motion Trajectories of Multi-Robot FormationMiao Wang0Weifeng Liu1Chenglin Wen2School of Electrical and Control Engineering, Shaanxi University of Science and Technology, Xi’an 710021, ChinaSchool of Electrical and Control Engineering, Shaanxi University of Science and Technology, Xi’an 710021, ChinaSchool of Automation, Guangdong University of Petrochemical Technology, Maoming 525000, ChinaMulti-robot motion and observation generally have nonlinear characteristics; in response to the problem that the existing extended Kalman filter (EKF) algorithm used in robot position estimation only considers first-order expansion and ignores the higher-order information, this paper proposes a multi-robot formation trajectory based on the high-order Kalman filter method. The joint estimation method uses Taylor expansion of the state equation and observation equation and introduces remainder variables on this basis, which effectively improves the estimation accuracy. In addition, the truncation error and rounding error of the filtering algorithm before and after the introduction of remainder variables, respectively, are compared. Our analysis shows that the rounding error is much smaller than the truncation error, and the nonlinear estimation performance is greatly improved.https://www.mdpi.com/1424-8220/22/15/5590multi-robot formationtrajectory estimationhigher-order Kalman filterfusion estimation |
| spellingShingle | Miao Wang Weifeng Liu Chenglin Wen A High-Order Kalman Filter Method for Fusion Estimation of Motion Trajectories of Multi-Robot Formation Sensors multi-robot formation trajectory estimation higher-order Kalman filter fusion estimation |
| title | A High-Order Kalman Filter Method for Fusion Estimation of Motion Trajectories of Multi-Robot Formation |
| title_full | A High-Order Kalman Filter Method for Fusion Estimation of Motion Trajectories of Multi-Robot Formation |
| title_fullStr | A High-Order Kalman Filter Method for Fusion Estimation of Motion Trajectories of Multi-Robot Formation |
| title_full_unstemmed | A High-Order Kalman Filter Method for Fusion Estimation of Motion Trajectories of Multi-Robot Formation |
| title_short | A High-Order Kalman Filter Method for Fusion Estimation of Motion Trajectories of Multi-Robot Formation |
| title_sort | high order kalman filter method for fusion estimation of motion trajectories of multi robot formation |
| topic | multi-robot formation trajectory estimation higher-order Kalman filter fusion estimation |
| url | https://www.mdpi.com/1424-8220/22/15/5590 |
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