全方位ビジョンセンサを搭載した複数台の移動ロボットの自己位置同定法

抄録

This paper proposes a method for estimating position and orientation of multiple robots from a set of azimuth angles of with respect to landmarks and another robots which are observed by multiple omnidirectional vision sensors. Our method simultaneously perform self-localzation by each robot and reconstruction of relative configuration between robots. Under the situation where it is impossible to identify each index for the observed azimuth angles with that for the robots, our method reconstruct not only relative configuration between robots using“triangle and enumeration constraints”but also absolute one using the knowledge of landmarks in the environment. In order to show the validity of our method, this method is applied to multiple mobile robots each of which has an omnidirectional vision sensor in the real environment. The experimental results show that the result of our method is more precise than that of self-localization by each robot.