相補的な情報の共有による複数ロボットの協調位置推定

抄録

In this paper, we propose a cooperative localization method for multi － robots based on the confidence evaluation of positioning. In conventional methods, robots are often separated into two groups: parent robots and child robots. Since child robots depend on the information of parent robots, the error of parent robots will spread to the whole robot system. Therefore, we propose a method to estimate the position by dynamically switching the reference robots without specifying a specific parent robot. Results show that our method can maintain the accuracy of position estimation for the entire robot system better than when parent robots are fixed.