Multi-robot relative positioning and orientation system based on UWB range and graph optimization

Shuaikang Zheng,Zhitian Li, Yuanli Yin,Yunfei Liu,Haifeng Zhang,Pengcheng Zheng,Xudong Zou

Measurement（2022）

引用 8|浏览4

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摘要

•A range-based multi-robot relative pose estimation system is proposed.•The graph optimization method is adopted to improve the performance.•The “single robot – multi tags” structure is designed for observability.•Centimeter-level relative positioning accuracy is achieved in experiments.

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关键词

Relative Positioning,Multi-Robot System,Ultra-Wide Band (UWB),Graph Optimization

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