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제약 전파 기법을 적용한 다중 이동 로봇의 상호 협동 위치 추정
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- Authors
- 조경환, 이지홍, 장철수
- Issue Date
- 2008-03
- Citation
- 제어로봇시스템학회논문지, v.14, no.3, pp.273-283
- ISSN
- 1976-5622
- Publisher
- 제어로봇시스템학회
- Language
- Korean
- Type
- Journal Article
- 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.
- KSP Keywords
- Conventional methods, Cooperative Localization, GPS Receiver, Gps data, Localization performance, Position information, Wheel Encoders, multiple robots, simulation results