A Cooperative Navigation System Based on Sharing of Self-Positions in Multiple Mobile Robot Networks

Abstract

The purpose of this study is that multiple mobile robots travel to their destination without interfering with each other. This paper introduces an implementation example of cooperative navigation using a network of two mobile robots. The proposed system uses Rowma, which is a robot network construction system, to share position information among multiple ROS-based robots. According to position relationship among robots, a route to avoid the other robot is selected. In the experiment, the robot was able to reach a destination along a route avoiding the other robot. The result shows that it is possible to achieve autonomous navigation without interference between mobile robots by using Rowma.