CN108594169A - A kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology - Google Patents
A kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology Download PDFInfo
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Abstract
The invention belongs to robot self-localization technical fields, disclose a kind of multirobot distributed collaborative localization method being adapted to time-varying serial communication topology, it is to be based on UKF frames, convert distributed collaborative positioning to the problem of implementation of distributed U transformation, covariance matrix distribution decomposition therein is crucial, distributed covariance matrix decomposable process is adapted to obtainable communication topology by the characteristics of gradually being carried out using the Cholesky matrix decompositions recursion that looks up, to realize distributed U transformation.Demand the invention avoids single robot localization to other all robot information, single robot rely only on random obtainable adjacent robot information, you can carry out self-position estimation, and complete the update with other robot location's relationships.Adaptability of the co-positioned to dynamic time-varying communication topology is improved, the communication topology condition limitation problem that multirobot is faced when executing the tasks such as post-disaster search and rescue, a wide range of monitoring can be coped with.
Description
Technical field
The invention belongs to robot self-localization technical field more particularly to a kind of multimachine devices applied to time-varying communication topology
People's distributed collaborative localization method.
Background technology
Co-positioned is a kind of method that multirobot improves self poisoning precision using the relative information between them.
Multirobot is scattered in geographical space, for this purpose, co-positioned is there are centralized and distributed two kinds implementation frameworks, the former is all
All by information transmission and center processing unit, there is the problems such as big communication consumption, poor reliability in robot, and the latter is each
Co-positioned is completed in robot, is a kind of common framework.In distributed collaborative positioning, the information flow reduction of fractions to a common denominator in the machine human world
It is premise to enjoy, however under some application circumstances, free information flow is difficult to be provided, and is such as explored in circumstances not known
In, it often will appear the spacing of robot and be unable to free communication beyond communication path, it is for another example, various to have under Antagonistic Environment
Meaning or unintentionally interference can block internodal communication link etc., this makes the communication topology (description correspondence) between robot
It is uncertain, and with environmental condition time-varying, if not adapting to this case, co-positioned efficiency will substantially reduce.
Kalman filtering (KF) is currently to solve the problems, such as one of major technique of co-positioned, the distributed collaborative based on KF
Location algorithm design is often assumed there are two types of direction one is theory analysis level for the purpose of improving positioning accuracy, is laid particular emphasis on
Robot can freely obtain information needed, can communicate without restrictions between them；Though another using communication condition as setting
Meter constraint, but commonly assume that constraint is known and fixed (i.e. communication topology is fixed), i.e., to each individual, information comes from
Whom who, issues and provides in advance, and the algorithm design based on this premise is harsh to communication condition demand, and once in practical applications
It cannot be satisfied, co-positioned task just faces the possibility of failure.Therefore, the Cooperative Localization Method designed based on this two direction
It is restricted in practical applications, especially the occasion of communication topology time-varying.
Invention content
In order to overcome the deficiencies of the prior art, the present invention proposes a kind of multirobot distribution being adapted to time-varying communication topology
Formula Cooperative Localization Method.
For achieving the above object, the present invention adopts the following technical scheme that：
A kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology, using Unscented Kalman Filter
The technical foundation that UKF is positioned as distributed collaborative, using one group of sigma point come the probability density distribution of approximate representation variable,
It, i.e., should with some sampled points come the variance of the estimated value of equivalent description variable and the estimation for the variable of Normal Distribution
Process is known as U transformation；Here, it is assumed that at the k moment, the integral position of N number of robot is estimated as： Indicate that the location estimation of robot i, integral position estimate that corresponding variance is： The U of so estimation is transformed to：
ξ in formula(0)(k)…ξ(4N)(k) it is sigma points, λ is adjustable amount；P (k) is symmetrical matrix, It indicatesPth row；
Ensure that single robot obtains all block element Pij(k) to build P (k), to obtainSo that list robot i
Obtain part sigma points：
It is decomposed based on the Cholesky that looks up to solve the problems, such as the distributed acquisition of covariance matrix, is enabled：P=AAT, in A
Each piece of elements AijIt can be according to solution：
Above formula has：1) each piece of elements AijAcquisition only rely on Aij(i ＞ j) and Pij(i ＞ j) rather than all elements block,
Avoid demand of all robots to information exchange；2) from top to bottom recursion and go out, and the feature is combined with communication sequence；
Utilize the Cholesky matrix decomposition block elements As that look upijTop-down recursion feature, by distributed covariance square
Battle array is decomposed and is combined with communication condition, so that matrix decomposition is complied with automatically from being changed into communication " putting forward demand ", to avoid being distributed
Height Dependence Problem of the formula co-positioned to communication topology condition；Each robot is by the local message amount obtained, you can completes
The location updating of itself；Including two step of position prediction and position Posterior estimator, two steps output result inputs each other；
When no robot measures other teammates in multiple robots, each robot is constantly pre- according to certain step-length
Survey the position of oneself, how in each robot the distributed position prediction that carries out is well solved；
When a robot measures teammate, and after measuring the relative information with teammate, the position of all robots is pre-
Measured value all after testing estimation update in the completed, will continue position prediction by the measurement updaue.
A kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology, the single machine in co-positioned
The workflow of device people is carried out in four steps；For installation wire speed measuring apparatus, Relative ranging equipment, wireless communication is set
Standby multiple robots, the robot for being i to number, are abbreviated as Ri；Specific implementation step is as follows：
Step 1：Start co-positioned task；
After task starts, robot is constantly carried out according to δ step-lengths to oneself position prediction；Real-time monitoring team of robot simultaneously
Friend, can monitor with present position, field angle in relation to and intercept friendly neighbour transmission information；
At a time, if robot finds teammate, two is thened follow the steps, if robot receives location information, is held
Row step 3；Otherwise, continue to estimate self-position, and continue to scout teammate and intercept external information.If receiving association
Make positioning END instruction, then stops teammate's monitoring；
Step 2：It was found that teammate, generates co-positioned information；
Assuming that in kmMoment, Ri find teammate, according to the relative measurement of it and the person of being found, if find simultaneously it is multiple,
One nearest with finder is then only handled, calculates and generates location information Si(km), location information Si(km) reenter step later
Rapid one；
Step 3：The teammate's information received updates self-position；
Assuming that in krMoment, Rj receive neighbouring robot information, and Rj first determines whether the information is co-positioned letter
Breath if it is carries out co-positioned using it；
Before using the co-positioned information, first pre-processed：It is first determined whether once receiving Si(km), if
It received, then abandoned, and otherwise, continued with and judge whether location information is effective：
km+ δ ＞ kr \*MERGEFORMAT(4)
Wherein krIndicate the time of reception.
If not, it then abandons, and is not propagated to neighbouring robot, otherwise, Rj utilizes location information Si(km) carry out position
Update, reenters step 1 later；
Step 4：Co-positioned task terminates；
After receiving co-positioned and terminating order, robot no longer monitors teammate for robot.
3, a kind of multirobot distributed collaborative positioning side being adapted to time-varying communication topology as claimed in claim 2
Method, it is characterized in that：The forming process of the co-positioned information, below by taking k moment robots Ri observes Rj as an example specifically
It is bright：
(1) the sigma points of part are formed
According toCalculate Aii, enable Ai=[Aii], according to formula, calculating robot i is corresponded to
WhereinIndicate position prediction estimation,Indicate the variance of the estimation,Indicate the covariance between different estimations；
(2) it is interacted with the Rj being monitored to
Request is communicated with measured Rj, by AiiIt sends and Rj, Rj calculates A according to formulaji,Ajj；Enable Aj=[Aji,Ajj], according to
Formula, which calculates, to be corresponded toAnd it is sent to and Ri；
(3) co-positioned information element is generated
Receive Rj'sAfterwards, according to calculatingWith expected measured value
WhereinIndicate superposition weighted value
According to the variance for calculating expected measurement：
In formulaIndicate superposition weighted value.RijIndicate relative measurement noise variance；
The expected covariance estimated between desired location estimation is measured according to calculating：
|neighi| it indicates in communication topology, the robot number among from robot measurement to robot i, for hair
For the robot of existing teammate：|neighi|=1；
(4) Ri updates self-position and local covariance
Utilize acquisition Posterior estimatorUsing the update for carrying out local covariance,
WhereinIndicate position Posterior estimator,Indicate corresponding error covariance；
(5) co-positioned information S is formed by Ri numbers i, expected measurement error, corresponding variance etc.i(km)：
By S1(k) it is packaged to neighbouring robot and sends；
It is stand-alone program that co-positioned information, which is formed flow and compiled, and interplantation is in each robot, once robot measures
Teammate, the program execute.
A kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology, it is characterized in that：The cooperation
Location information utilizes flow, specific implementation step as follows：
After robot receives teammate's location information, the process of the information update predicted position is utilized；CrIt is organic
Device people numbers collection, and C indicates the robot for including in location information number collection,The letter of the positioning from Rj is received with Ri
Cease Sj(km)；
(1) part sigma points are formed
A is calculated according to formulai, then according to calculating
(2) update predictive estimation position
It is calculated using formulaLocation updating is carried out using formula；
(3) local covariance is updated
Count Sj(k) robot number collection C included in carries out each robot j of g ∈ C using formulaUpdate；It is right It remains unchanged；
(4) location information is re-formed
It is packaged recipient's number i, Ai、Sj(k) information re-forms location information Si(k)：
By Si(k) continue to send to neighbouring robot；
It is stand-alone program that co-positioned use of information flow, which is compiled, and interplantation is in each robot, once robot receives
Teammate's effective position information, the program are carried out.
A kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology, in different communication topological condition
Under, each robot predicting location estimation renewal process；(the C by taking four robots as an exampler={ 1,2,3,4 }), and assume a certain
Moment, robot R1 have found R2；
(a) corresponding communication topology is：1→2→3→4；
(b) corresponding communication topology is：1→2→4→3；
It indicates the relative measurement that a robot generates, allows all robots to realize certainly by different Communication topologies
The location updating of body；At (a), (b) in, there is interactive communication between robot 1,2, in order to form location information S1
(k), so should need to ensure measurement side and be measured side to be communication, otherwise, this relative measurement information z first12It will be valueless
And it is rejected.
Due to using technical solution as described above, the present invention that there is following superiority：
A kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology, utilizes the Cholesky that looks up
Distributed covariance matrix is decomposed and is combined with communication condition, makes matrix decomposition by the top-down recursion feature of matrix decomposition
It is complied with automatically from being changed into communication " putting forward demand ", to avoid distributed collaborative positioning from relying on the height of communication topology condition
Problem.Each robot relies on obtainable local message amount, you can completes the location updating of itself.
The method of the invention overcomes existing method and depends on problem to fixed communication topology.What each robot was formed
Location information and not directed specifically to a certain robot, when as sender, robot does not need to determine its location information will be by what machine
Device people is received, when as recipient, robot can also handle the location information of any sender.The method of the invention module
Property it is strong, actual motion effect is good, support in each robot independent operating, improve multirobot distributed collaborative positioning to dislike
The adaptability of bad communication environment.
Description of the drawings：
Fig. 1 is the co-positioned principle flow chart based on UKF, it includes position prediction and position Posterior estimator, is illustrated
The overall work process of co-positioned.
Fig. 2 is the overall workflow figure of single robot, illustrates individual machine people when executing co-positioned task, holds
Trigger condition, the termination condition etc. of row different disposal algorithm.
Fig. 3 is to make location information to form flow chart, is illustrated after single robot measures teammate, how with measured machine
People exchanges information to form the process of location information.
Fig. 4 is co-positioned use of information flow chart, is illustrated when a robot receives the co-positioned letter of teammate
After breath, the update of itself predicted position estimation how is carried out using the information.
Fig. 5 (a) is corresponding 1 → 2 → 3 → 4 communication topology figure, and Fig. 5 (b) is corresponding 1 → 2 → 4 → 3 communication topology
Figure.It is illustrated under different communication topological condition, different location variable renewal processes is illustrated by taking four robots as an example.
Specific implementation mode：
Embodiments of the present invention are introduced below in conjunction with the accompanying drawings.
As shown in Fig. 1,2,3,4,5 (a), 5 (b), the present invention is used as distributed collaborative using Unscented Kalman Filter (UKF)
The technical foundation of positioning, the technology are using one group of sigma point come the probability density distribution of approximate representation variable, for obeying just
The variable of state distribution, i.e., with some sampled points come the variance of the estimated value of equivalent description variable and the estimation, which is known as U changes
It changes.Here, it is assumed that at the k moment, the integral position of N number of robot is estimated as： Expression machine
The location estimation of device people i, integral position estimate that corresponding variance is：
The U of so estimation is transformed to：
ξ in formula(0)(k)…ξ(4N)(k) it is sigma points, λ is adjustable amount.P (k) is symmetrical matrix, It indicatesPth row.Under distributed structure/architecture, when communication condition is limited
When, it is difficult to ensure that single robot obtains all block element Pij(k) it to build P (k), is also just difficult to obtainSo that single machine
Device people i obtains part sigma points：
It is decomposed the present invention is based on the Cholesky that looks up to solve the problems, such as the distributed acquisition of covariance matrix, is enabled：P=
AAT, each piece of elements A in AijIt can be according to solution：
As can be seen that there are two features for above formula：1) each piece of elements AijAcquisition only rely on Aij(i ＞ j) and Pij(i ＞
J) rather than all elements block, the demand this avoids all robots to information exchange, 2) block elements AijIt can from top to bottom recursion
And go out, it is contemplated that combined the feature with communication sequence.
Fig. 1 describes the principle process (not considering that communication is implemented) of co-positioned from whole angle, which includes position
Two step of prediction and position Posterior estimator is set, two steps output result inputs each other.When no robot measures it in multiple robots
When its teammate, each robot constantly predicts the position of oneself according to certain step-length, how distributed in each robot
Position prediction is carried out to be well solved；When a robot measures teammate, and measure the relative information with teammate
Afterwards, the position prediction value of all robots all after testing estimation update in the completed, it is pre- will to continue position by the measurement updaue
Survey, how distributed enforcing location Posterior estimator be the present invention emphasis.
Fig. 2 is illustrated in co-positioned, the workflow (each robot is identical) of individual machine people, point four steppings
Row.The present invention is directed to installation wire speed measuring apparatus, Relative ranging equipment (such as laser radar), wireless telecom equipment
Multiple robots, the robot for being i to number, are abbreviated as Ri.
Step 1：Start co-positioned task
After task starts, robot is constantly carried out according to δ step-lengths to oneself position prediction.Real-time monitoring team of robot simultaneously
Friend (can monitor with present position, field angle in relation to) and intercept friendly neighbour send information.
At a time, if robot finds teammate, two is thened follow the steps, if robot receives location information, is held
Row step 3；Otherwise, continue to estimate self-position, and continue to scout teammate and intercept external information.If receiving association
Make positioning END instruction, then stops teammate's monitoring.
Step 2：It was found that teammate, generates co-positioned information
Assuming that in kmMoment, Ri have found teammate, according to it with the person of being found relative measurement (if find simultaneously it is multiple,
Then only handle one nearest with finder), it calculates and generates location information Si(km), specific method is shown in that co-positioned information is formed
Flow, such as Fig. 3, reenter step 1 later.
Step 3：The teammate's information received updates self-position
Assuming that in krMoment, Rj receive neighbouring robot information, and Rj first determines whether the information is co-positioned letter
Breath if it is carries out co-positioned using it.
Before using the co-positioned information, first pre-processed：It is first determined whether once receiving Si(km), if
It received, then abandoned, and otherwise, continued with and judge whether location information is effective：
km+ δ ＞ kr \*MERGEFORMAT(4)
Wherein krIndicate the time of reception.
If not, it then abandons, and is not propagated to neighbouring robot, otherwise, Rj utilizes Si(km) carry out location updating, tool
Body method is shown in that co-positioned use of information flow, such as Fig. 4 reenter step 1 later.
Step 4：Co-positioned task terminates
After receiving co-positioned and terminating order, robot no longer monitors teammate for robot.
Fig. 3 illustrates the forming process of co-positioned information, below by taking k moment robots Ri observes Rj as an example specifically
It is bright：
(1) the sigma points of part are formed
According toCalculate Aii, enable Ai=[Aii], according to formula, calculating robot i is corresponded to
WhereinIndicate position prediction estimation,Indicate the variance of the estimation,Indicate the covariance between different estimations.
(2) it is interacted with the Rj being monitored to
Request is communicated with measured Rj, by AiiIt sends and Rj, Rj calculates A according to formulaji,Ajj.Enable Aj=[Aji,Ajj], according to
Formula, which calculates, to be corresponded toAnd it is sent to and Ri.
(3) co-positioned information element is generated
Receive Rj'sAfterwards, according to calculatingWith expected measured value
WhereinIndicate superposition weighted value
According to the variance for calculating expected measurement：
In formulaIndicate superposition weighted value.RijIndicate relative measurement noise variance.
The expected covariance estimated between desired location estimation is measured according to calculating：
|neighi| it indicates in communication topology, the robot number among from robot measurement to robot i, for hair
For the robot of existing teammate：|neighi|=1.
(4) Ri updates self-position and local covariance
Utilize acquisition Posterior estimatorUsing the update for carrying out local covariance,
WhereinIndicate position Posterior estimator,Indicate corresponding error covariance.
(5) co-positioned information S is formed by Ri numbers i, expected measurement error, corresponding variance etc.i(km)：
By S1(k) it is packaged to neighbouring robot and sends.
It is stand-alone program that co-positioned information shown in Fig. 3, which is formed flow and compiled, and interplantation is in each robot, once machine
People measures teammate, which executes.
Fig. 4 is illustrated after robot receives teammate's location information, utilizes the process of the information update predicted position.Figure
Middle CrIt numbering and collects for all robots, C indicates the robot for including in location information number collection,It is received below with Ri
To the S from Rjj(km) for, the flow is described in detail.
(1) part sigma points are formed
A is calculated according to formulai, then according to calculating
(2) update predictive estimation position
It is calculated using formulaLocation updating is carried out using formula；
(3) local covariance is updated
Count Sj(k) robot number collection C included in carries out each robot j of g ∈ C using formulaUpdate；It is right It remains unchanged；
(4) location information is re-formed
It is packaged recipient's number i, Ai、Sj(k) information re-forms location information Si(k)：
By Si(k) continue to send to neighbouring robot.
It is stand-alone program that co-positioned use of information flow shown in Fig. 4, which is compiled, and interplantation is in each robot, once machine
People receives teammate's effective position information, which is carried out.
Fig. 5 illustrates for the present invention under different communication topological condition, each robot predicting location estimation renewal process.With
(C for four robotsR={ 1,2,3,4 }), and assume that at a time, robot R1 has found R2.The corresponding communications of Fig. 5 (a)
Topology is：The corresponding communication topologies of 1 → 2 → 3 → 4, Fig. 5 (b) are：1→2→4→3.This means that a robot generated
Relative measurement can allow all robots to realize the location updating of itself by different Communication topologies.In 5 (a), 5 (b)
In, there is interactive communication between robot 1,2, in order to form location information S1(k), so should need to ensure to survey first
Amount side and measured side can communicate, otherwise, this relative measurement information z12It is rejected valueless.
Claims (5)
1. a kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology, it is characterized in that：Using tasteless card
The technical foundation that Kalman Filtering UKF is positioned as distributed collaborative, it is close come the probability of approximate representation variable using one group of sigma point
Degree distribution, for the variable of Normal Distribution, i.e., with some sampled points come the estimated value of equivalent description variable and the estimation
Variance, the process are known as U transformation；Here, it is assumed that at the k moment, the integral position of N number of robot is estimated as： Indicate that the location estimation of robot i, integral position estimate that corresponding variance is： The U of so estimation is transformed to：
ξ in formula(0)(k)…ξ(4N)(k) it is sigma points, λ is adjustable amount；P (k) is symmetrical matrix, It indicatesPth row；
Ensure that single robot obtains all block element Pij(k) to build P (k), to obtainSo that list robot i is obtained
Local sigma points：ξi (0)(k)…ξi (4N)(k)；
It is decomposed based on the Cholesky that looks up to solve the problems, such as the distributed acquisition of covariance matrix, is enabled：P=AAT, each piece in A
Elements AijIt can be according to solution：
Above formula has：1) each piece of elements AijAcquisition only rely on Aij(i ＞ j) and Pij(i ＞ j) rather than all elements block, avoid
Demands of all robots to information exchange；2) from top to bottom recursion and go out, and the feature is combined with communication sequence；
Utilize the Cholesky matrix decomposition block elements As that look upijTop-down recursion feature, by distributed covariance matrix point
Solution is combined with communication condition, so that matrix decomposition is complied with automatically from being changed into communication " putting forward demand ", to avoid distributed association
Position the height Dependence Problem to communication topology condition；Each robot is by the local message amount obtained, you can completes itself
Location updating；Including two step of position prediction and position Posterior estimator, two steps output result inputs each other；
When no robot measures other teammates in multiple robots, each robot is constantly predicted according to certain step-length
The position of oneself, how in each robot the distributed position prediction that carries out is well solved；
When a robot measures teammate, and after measuring the relative information with teammate, the position prediction value of all robots
All will position prediction after testing estimation update in the completed, be continued by the measurement updaue.
2. a kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology as described in claim 1,
It is characterized in：
The workflow of individual machine people is carried out in four steps in co-positioned；For installation wire speed measuring apparatus, relatively
Distance measuring equipment, multiple robots of wireless telecom equipment, the robot for being i to number are abbreviated as Ri；Specific implementation step
It is as follows：
Step 1：Start co-positioned task；
After task starts, robot is constantly carried out according to δ step-lengths to oneself position prediction；Robot monitors teammate in real time simultaneously,
Can monitor with present position, field angle in relation to and intercept friendly neighbour transmission information；
At a time, if robot finds teammate, two is thened follow the steps, if robot receives location information, executes step
Rapid three；Otherwise, continue to estimate self-position, and continue to scout teammate and intercept external information, if it is fixed to receive cooperation
Position END instruction then stops teammate's monitoring；
Step 2：It was found that teammate, generates co-positioned information；
Assuming that in kmAt the moment, Ri has found teammate, according to the relative measurement of it and the person of being found, if finding simultaneously multiple, only locates
One nearest with finder is managed, calculates and generates location information Si(km), location information Si(km) reenter step 1 later；
Step 3：The teammate's information received updates self-position；
Assuming that in krMoment, Rj receive neighbouring robot information, and Rj first determines whether the information is co-positioned information, such as
Fruit is then to carry out co-positioned using it；
Before using the co-positioned information, first pre-processed：It is first determined whether once receiving Si(km), if having received
It crosses, then abandons, otherwise, continue with and judge whether location information is effective：
km+ δ ＞ kr \*MERGEFORMAT(4)
Wherein krIndicate the time of reception；
If not, it then abandons, and is not propagated to neighbouring robot, otherwise, Rj utilizes location information Si(km) carry out position more
Newly, step 1 is reentered later；
Step 4：Co-positioned task terminates；
After receiving co-positioned and terminating order, robot no longer monitors teammate for robot.
3. a kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology as claimed in claim 2,
It is characterized in：The forming process of the co-positioned information is described in detail so that k moment robots Ri observes Rj as an example below：
(1) the sigma points of part are formed
According toCalculate Aii, enable Ai=[Aii], according to formula, calculating robot i is corresponded to
WhereinIndicate position prediction estimation,Indicate the variance of the estimation,Indicate the covariance between different estimations；
(2) it is interacted with the Rj being monitored to
Request is communicated with measured Rj, by AiiIt sends and Rj, Rj calculates A according to formulaji,Ajj；Enable Aj=[Aji,Ajj], according to formula meter
It calculates and corresponds toAnd it is sent to and Ri；
(3) co-positioned information element is generated
Receive Rj'sAfterwards, according to calculatingWith expected measured value
WhereinIndicate superposition weighted value
According to the variance for calculating expected measurement：
In formulaIndicate superposition weighted value, RijIndicate relative measurement noise variance；
The expected covariance estimated between desired location estimation is measured according to calculating：
|neighi| it indicates in communication topology, the robot number among from robot measurement to robot i, for finding team
For the robot of friend：
|neighi|=1；
(4) Ri updates self-position and local covariance
Utilize acquisition Posterior estimatorUsing the update for carrying out local covariance,
WhereinIndicate position Posterior estimator,Indicate corresponding error covariance；
(5) co-positioned information S is formed by Ri numbers i, expected measurement error, corresponding variance etc.i(km)：
By S1(k) it is packaged to neighbouring robot and sends；
It is stand-alone program that co-positioned information, which is formed flow and compiled, and interplantation is in each robot, once robot measures teammate,
The program executes.
4. a kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology as claimed in claim 2,
It is characterized in：The co-positioned use of information flow, specific implementation step are as follows：
After robot receives teammate's location information, the process of the information update predicted position is utilized；CrIt is compiled for all robots
Number collection, C indicate location information in include robot number collection,The location information S from Rj is received with Rij
(km)；
(1) part sigma points are formed
A is calculated according to formulai, then according to calculating
(2) update predictive estimation position
It is calculated using formulaLocation updating is carried out using formula；
(3) local covariance is updated
Count Sj(k) robot number collection C included in carries out each robot j of g ∈ C using formula
Update；It is rightIt remains unchanged；
(4) location information is re-formed
It is packaged recipient's number i, Ai、Sj(k) information re-forms location information Si(k)：
By Si(k) continue to send to neighbouring robot；
It is stand-alone program that co-positioned use of information flow, which is compiled, and interplantation is in each robot, once robot receives teammate
Effective position information, the program are carried out.
5. a kind of multirobot distributed collaborative localization method being adapted to time-varying communication topology as described in claim 1,
It is characterized in：Under different communication topological condition, each robot predicting location estimation renewal process；(the C by taking four robots as an exampler
={ 1,2,3,4 }), and assume that at a time, robot R1 has found R2；
(a) corresponding communication topology is：1→2→3→4；
(b) corresponding communication topology is：1→2→4→3；
It indicates the relative measurement that a robot generates, allows all robots to realize itself by different Communication topologies
Location updating；At (a), (b) in, there is interactive communication between robot 1,2, in order to form location information S1(k),
So should need to ensure measurement side and be measured side to be communication, otherwise, this relative measurement information z first12By valueless by
Give up.
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