Evaluation of the Benefits of Zero Velocity Update in Decentralized EKF-Based Cooperative Localization Algorithms for GNSS-Denied Multi-Robot Systems
Abstract
This paper proposes the cooperative use of zero velocity update (ZU) in a decentralized extended Kalman filter (DEKF) based localization algorithm for multi-robot systems. The filter utilizes inertial measurement unit (IMU), ultra-wideband (UWB), and odometry velocity measurements to improve the localization performance of the system in the presence of a GNSS-denied environment. The contribution of this work is to evaluate the benefits of using ZU in a DEKF-based localization algorithm. The algorithm is tested with real hardware in a video motion capture facility and a Robot Operating System (ROS) based simulation environment for unmanned ground vehicles (UGV). Both simulation and real-world experiments are performed to show the effectiveness of using ZU in one robot to reinstate the localization of other robots in a multi-robot system. Experimental results from GNSS-denied simulation and real-world environments show that using ZU with simple heuristics in the DEKF significantly improves the 3D localization accuracy.
Keywords
Cite
@article{arxiv.2306.17703,
title = {Evaluation of the Benefits of Zero Velocity Update in Decentralized EKF-Based Cooperative Localization Algorithms for GNSS-Denied Multi-Robot Systems},
author = {Cagri Kilic and Eduardo Gutierrez and Jason N. Gross},
journal= {arXiv preprint arXiv:2306.17703},
year = {2023}
}
Comments
18 pages, preprint version, the manuscript is accepted for publication in NAVIGATION, the Journal of the Institute of Navigation. Submitted:10-11-2022, Revised: 21-04-2023, Accepted:23-06-2023