Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Cooperative Localization for Multiple Mobile Robots using Constraints Propagation Techniques on Intervals

제약 전파 기법을 적용한 다중 이동 로봇의 상호 협동 위치 추정

  • 조경환 (충남대학교 BK21 메카트로닉스 사업단) ;
  • 장철수 (한국전자통신연구원 지능형로봇연구단) ;
  • 이지홍 (충남대학교 BK21 메카트로닉스 사업단)
  • Published : 2008.03.01
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Abstract

This article describes a cooperative localization technique of multiple robots sharing position information of each robot. In case of conventional methods such as EKF, they need to linearization process. Consequently, they are not able to guarantee that their result is range containing true value. In this paper, we propose a method to merge the data of redundant sensors based on constraints propagation techniques on intervals. The proposed method has a merit guaranteeing true value. Especially, we apply the constraints propagation technique fusing wheel encoders, a gyro, and an inexpensive GPS receiver. In addition, we utilize the correlation between GPS data in common workspace to improve localization performance for multiple robots. Simulation results show that proposed method improve considerably localization performance of multiple robots.

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References

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