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中文摘要：
针对异质多机器人具有不同的感知能力和处理能力的特点,提出一种基于粒子群优化的多机器人协作相对定位方法。该方法将常规粒子滤波方法与粒子群优化算法有机结合,通过粒子群优化方法对预估粒子进行更新,同时利用多机器人之间的相对观测信息,调整粒子的提议分布和粒子权重,增强多机器人位置预测的有效性,提高多机器人定位的精度。实时数据实验结果表明：该方法正确、可行。
英文摘要：
According to different perceptions and processing abilities of heterogeneous robots,an approach to multi-robot cooperative localization was presented based on particle swarm optimization.Through the particle swarm algorithm combined with the standard particle filter,the prediction of particles was updated,and the proposal distribution and the weight of particles were adjusted based on the relative observations to enhance the effectiveness of the position prediction and improve the localization accuracy.The online experimential results prove that the improved method is correct and feasible.
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