Constrained distributed estimation based on consensus algorithm for mobile robots tracking
Control System, Computing and Engineering（2014）
摘要
We are presenting a distributed algorithm for tracking a moving target using mobile robots, each equipped with sensors. In this work, to cope with the constraints on the noise and states of the target, we employ a distributed estimation algorithm which is based on the concept of moving horizon estimation (MHE). A consensus process in this algorithm guarantees all the mobile robots asymptotically converge to a common value for the estimate of the moving target states. Furthermore, the movement decision of the mobile robots is based on the flocking algorithm.
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关键词
distributed algorithms,mobile robots,multi-robot systems,state estimation,target tracking,MHE concept,consensus algorithm,constrained distributed estimation algorithm,flocking algorithm,mobile robot tracking,movement decision,moving horizon estimation concept,moving target state estimation,moving target tracking,noise constraint,target state constraint,Distributed moving horizon estimation,consensus algorithm,flocking,mobile robots,target tracking
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