Abstract
This research proposes a method of reaching destinations for multi mobile robots by giving a formation under position uncertainty. These robots can measure 4 distances between a robot and a landmark and between robots by using 1 transmitter and 2 receiver which are located on themselves. Positions of robots, which can move and measure distances, are estimated by using extended kalman filter. And a sequence evaluation of robots formation use a variance-covariance matrix for considering position uncertainty and collision avoidance. A evaluation consider not these two points but distances between robots and their own destinations.
