Mutual Localization of Multiple Sensor Node Robots
Keitaro Naruse, Shigekazu Fukui, and Jie Luo
School of Computer Science and Engineering, University of Aizu, Tsuruga, Ikki-machi, Aizu-Wakamatsu, Fukushima 965-0006, Japan
The objective of this paper is to develop a localization systemof cooperativemultiple mobile robots, in which each robot is assumed to observe a set of known landmarks and equipped with an omnidirectional camera. In this paper, it is assumed that a robot can detect other robots by using the omnidirectional camera, share its estimated position with others, and utilize shared positions for its localization. In other words, each robot can be viewed as an additional mobile landmark to a set of stationary landmarks. A foremost concern is how well this system performs localization under a limited amount of information. This paper presents an investigation of self localization error of each robot in a group using Extended Kalman Filter to solve the localization problem with the insufficient landmarks and inaccurate position information.
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