A Multi-robot Cooperative Localization Method Based On Optimal Weighted Particle Filtering

Abstract

In this paper, we propose a multi-robot cooperative localization algorithm based on optimal weighted Particle Filter (OWPF) to solve the problem that the average weighting cannot effectively reflect the reliability of the observation information. We use the observation variance as the weight. The simulation results show that OWPF can effectively improve the positioning accuracy of the system compared with the PF cooperative localization algorithm when the robot ranging variance is different. And the positioning efficiency of the two is similar.