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http://dx.doi.org/10.5391/JKIIS.2010.20.2.298

Mutual Localization of swarm robot using Particle Filter  

Jung, Kwang-Min (중앙대학교 전자전기공학부)
Sim, Kwee-Bo (중앙대학교 전자전기공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.2, 2010 , pp. 298-303 More about this Journal
Abstract
robots determine the location of the other robot using wireless sensors. Use it to decide how to move his. And go to any location, will make shape of column and line, circle. In this paper, we discuss problem in circle formation enclosing target which moves. It is method about enclosed invader in circle formation based on mutual localization of swarm robot without infrastructure. Therefore, use trilateration that do not need to know the value of the coordinates of reference points. So, Specify enclosed point for the number of robots base on between the relative position of the robot in the coordinate system. And particle filter is proposed to improve the accuracy of the location.
Keywords
Particle filter; Mutual localization; Swarm robot; Triangulation;
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