1A1-V06 みなし履歴に基づく群ロボットの自己位置推定法に関する相対誤差とLMノード数の関係の解析(自律分散型ロボットシステム)
詳細
To make an exploration with multi-robot system, it is important to calculate each robot's position, that is, to realize a localization. However, the growth of the number of robots will cause a computation explosion. Then, we proposed the simple localization method for a multi-robot system which consists of a big number of robot in our previous work. In this paper, we analyzed the error of the multi-robot localization with our proposed localization method. Especially, we analyzed not only the absolute distance error but also relative distance error and concluded that this method is successful whenever a small number of Land-Mark nodes are used.
