The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2012
Session ID : 2A2-H09
Conference information
2A2-H09 Distributed self-localization of an autonomous mobile robot group using the share position information(Localization and Mapping(2))
Hisato FURUBAYASHIHiroyuki KOBAYASHI
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Abstract
Self-localization is one of the most important problems for autonomous mobile robots. We propose a distributed self-localization technique for a herd of mobile robots. The robots' overall positional information in world coordinate system is obtained by an external observer and is shared between the robots. Then, each robot estimates its own position by Bayesian estimation using local odometry data and shared positional information. The authors performed a computer simulation to confirm the basic validity of this algorithm and show its result in this paper.
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© 2012 The Japan Society of Mechanical Engineers
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