Multi-robot state estimation method based on model prediction control algorithm

The invention relates to a multi-robot state estimation method based on a model predictive control algorithm. The method comprises the following steps of adding constraints on a control quantity intoa loss function of the model predictive control algorithm and constructing a rolling time domain optimization algorithm in a finite time domain of a to-be-constrained item; solving the sequence information of N moments in the prediction control algorithm, transmitting the sequence information in a robot group, wherein the state of the robot also can be estimated through the sequence information ofone moment after packet loss. According to the method, the rolling time domain optimization algorithm with controlled quantity constraints in the limited time domain is constructed, and the stable, accurate and rapid state prediction is carried out on the robot in the presence of transmission data packet loss when a multi-robot system carries out information exchange in a physical environment. 本发明涉及一种基于模型预测控制算法的多机器人状态估计方法