Finite-Memory Cooperative Localization Based on Multisensor Information Fusion Using Neural Networks for Multiple Humanoid Robots
Date
2025
Authors
Kim, D.H.
Pak, J.M.
Shi, P.
Ahn, C.K.
Editors
Advisors
Journal Title
Journal ISSN
Volume Title
Type:
Journal article
Citation
IEEE transactions on industrial electronics (1982. Print), 2025; 1-10
Statement of Responsibility
Dong Hyeon Kim, Jung Min Pak, Peng Shi, Choon Ki Ahn
Conference Name
Abstract
Cooperative localization (CL) is a method for achieving accurate and reliable localization of multiple robots by sharing sensor measurements or position information through wireless communications among the robots and has been successfully applied to various mobile robots. However, in humanoid robots, swaying of the body caused by walking results in significant errors in LiDAR sensor measurements, degrading the accuracy of CL. To address this problem, we propose a novel CL algorithm aided by odometry information that is less affected by the swaying of humanoid robots. First, we design a finite-memory CL (FMCL) algorithm based on wireless sensor networks and LiDAR measurements that has a finite-memory structure, preventing the accumulation of errors in sensor measurements or models. Second, we process the odometry information with an artificial neural network (ANN) to obtain auxiliary position estimates. Third, the position estimates obtained by the two methods are integrated with another ANN to complete the odometry-aided FMCL (OAFMCL). Finally, we conduct CL experiments using multiple humanoid robots and demonstrate the superiority of the proposed OAFMCL over state-of-the-art localization algorithms.
School/Discipline
Dissertation Note
Provenance
Description
OnlinePubl
Access Status
Rights
© 2025 IEEE. All rights reserved, including rights for text and data mining, and training of artificial intelligence and similar technologies. Personal use is permitted, but republication/redistribution requires IEEE permission. See https://www.ieee.org/publications/rights/index.html for more information.