Cooperative Multiple Robot Localization utilizing Correlation between GPS Data Errors

GPS 데이터 오차 간의 상관 관계를 활용한 군집 로봇의 위치 추정

It is essential to estimating positions of multiple robots in order to perform cooperative task in common workspace. Accordingly, we propose a new approach of cooperative localization for multiple robots utilizing correlation among GPS errors in common workspace. Assuming that GPS data of individual robot are correlated strongly as the distance among robots are close, it is confirmed that the proposed method provides improved localization accuracy. In addition, we define two operational parameters to apply proposed method in multiple robot system. With mentioned two parameters, we present a practical solution to accumulated position error in traveling long distance.