Action Selection for Active and Cooperative Global Action Selection based on Localizability Estimation forMulti-robot Global Localization

Liu Zhe; Chen Weidong; Wang Jingchuan

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Action Selection for Active and Cooperative Global Action Selection based on Localizability Estimation forMulti-robot Global Localization

Liu Zhe #,Chen Weidong *,Wang Jingchuan

Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, China

*Correspondence author

#Submitted by

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Funding: none

Opened online:16 October 2013

Accepted by: none

Citation: Liu Zhe,Chen Weidong,Wang Jingchuan.Action Selection for Active and Cooperative Global Action Selection based on Localizability Estimation forMulti-robot Global Localization[OL]. [16 October 2013] http://en.paper.edu.cn/en_releasepaper/content/4563143

In this paper we investigate the action selection problem for multiple mobile robots active and cooperative global localization in large environments. Firstly, an off-line localizability estimation approach using known probabilistic grid map (PGM) is briefly proposed and a localizability matrix is presented to describe properties of expected localization probability distribution. Based on the proposed localizability matrix, a novel on-line action selection mechanism is further presented which enables multiple mobile robots to actively collaborate with each other and select complementary actions with redundant information exclusion. This action selection mechanism brings lowest expected localization covariance in each localization cycle and can accelerate the converging speed. Efficiency in time complexity also ensures that the proposed method could be used in real applications. The appropriateness of our approach is demonstrated through simulations and real experiments.

Keywords:robot control; multi-robot; action selection; active localization; cooperative localization; localizability estimation

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