Summary
This paper presents a new method of cooperative localization for multiple robots utilizing correlation between GPS errors of common mode in shared workspace. Assuming that GPS data of individual robot are correlated strongly as the distance between robots are close, we utilize the differential position data between the robots to refine robot’s position data. Under artificial environment for simulation with imposed model error to robot motion and GPS sensor data error, it is confirmed that the proposed method provides improved localization accuracy [9]. In addition, we present a practical solution to accumulated position error in traveling long distance.
This work was partly supported by the IT R&D program of MIC/IITA [2005-S-033-03, Embedded Component Technology and Standardization for URC].
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Lee, J., Jo, K., Jang, C. (2008). Cooperative Localization for Multi-robot Incorporating Proprioceptive/Exteroceptive Position Sensors. In: Laugier, C., Siegwart, R. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 42. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75404-6_44
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DOI: https://doi.org/10.1007/978-3-540-75404-6_44
Publisher Name: Springer, Berlin, Heidelberg
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