The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Cooperative Localization in 2D for Multiple Mobile Robots by Optimal Fusion of Odometer and Inexpensive GPS data

다중 이동 로봇의 주행 계와 저가 GPS 데이터의 최적 융합을 통한 2차원 공간에서의 위치 추정

  • 조경환 (충남대학교 BK21 메카트로닉스 사업단) ;
  • 이지홍 (충남대학교 BK21 메카트로닉스 사업단) ;
  • 장철수 (한국전자통신연구원 지능형로봇연구단)
  • Published : 2007.09.29
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Abstract

We propose a optimal fusion method for localization of multiple robots utilizing correlation between GPS on each robot in common workspace. Each mobile robot in group collects position data from each odometer and GPS receiver and shares the position data with other robots. Then each robot utilizes position data of other robot for obtaining more precise estimation of own position. Because GPS data errors in common workspace have a close correlation, they contribute to improve localization accuracy of all robots in group. In this paper, we simulate proposed optimal fusion method of odometer and GPS through virtual robots and position data.

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