MULTIPLE INDOOR ROBOT LOCALIZATION USING INFRARED BEACONS

Abstract eng:
Mobile robot localization based on active artificial landmarks is well established robust technique in indoor mobile robotics. This paper explores the extension of the method to multiple robot localization, with the key idea of using the robots themselves as the artificial landmarks, supplying other robots in the group with its estimate of position. The method uses nonlinear version of Kalman filter for determination of position estimate in 2D space, x-y coordinates and angle with respect to global coordinate system, with the estimate represented by mean values and corresponding covariances. Simulation results based on model well verified with the real system suggest that while only small reduction of number of fixed active landmarks can be achieved, the main advantage of the method is in increased robustness of localization technique with respect to obscured landmarks fields of view.

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