Cooperative Localization for Multi-Robot Incorporating Proprioceptive/Exteroceptive Position Sensors1 - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2007

Cooperative Localization for Multi-Robot Incorporating Proprioceptive/Exteroceptive Position Sensors1

Jihong Lee
  • Function : Author
  • PersonId : 845206
Kyounghwan Jo
  • Function : Author
  • PersonId : 845207
Choulsoo Jang
  • Function : Author
  • PersonId : 845208

Abstract

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.
Fichier principal
Vignette du fichier
fsr_43.pdf (231.63 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

inria-00195697 , version 1 (11-12-2007)

Identifiers

  • HAL Id : inria-00195697 , version 1

Cite

Jihong Lee, Kyounghwan Jo, Choulsoo Jang. Cooperative Localization for Multi-Robot Incorporating Proprioceptive/Exteroceptive Position Sensors1. 6th International Conference on Field and Service Robotics - FSR 2007, Jul 2007, Chamonix, France. ⟨inria-00195697⟩

Collections

FSR2007
34 View
191 Download

Share

Gmail Facebook Twitter LinkedIn More