Abstract
Recently, multi-robot systems are emerging in various industries. The multi-robot systems have several advantages in comparison with a single-robot system. The task of single-robot system is limited, because a bigger robot is required to perform more multiple functions. However, multi-robot systems can distribute the functions to each robot. The localization problem is essential for realization and it becomes more important in the multi-robot system. The multi-robot system needs to work maintaining a formation. In order to accomplish the given mission in the demanded formation, the localization is important. For multi-robot localization, we use the relative position to find robots' position based on odometry sensor, and the iterative Kalman filter algorithm is utilized to estimate the accurate position.
| Original language | English |
|---|---|
| Pages (from-to) | 15-19 |
| Number of pages | 5 |
| Journal | Universal Journal of Mechanical Engineering |
| Volume | 5 |
| Issue number | 1 |
| DOIs | |
| State | Published - 1 Mar 2017 |
| Externally published | Yes |
Keywords
- Formation
- Iterative Kalman filter
- Multi-robot localization
- Odometry
- Relative position
