2-D Cooperative Localization With Omni-Directional Mobile Robots

2015 12TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI)(2015)

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Abstract
In this paper, we propose cooperative localization scheme based feedback control for the multiple omni-directional mobile robots. Using the proposed cooperative localization scheme, localization capability of each mobile robot is enhanced, although some of the robots loss its absolute position measurement. Position error is bounded based on relative measurements which is unbounded for dead reckoning. Implementation results are also provided to validate the theory.
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Key words
cooperative localization,mobile robot,EKF
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