Optimal cone of relative position acquisition module of multi mobile robot

The research of position acquisition of robots has been done in many years. The robots need to know the position of each other in order to be able to coordinate for task to be done together. The conventional method of position sensing is using odometry by utilizing encoder attached to the wheel which depends on non-slippery condition. This method results unexpected errors in most cases. Trilateration is one of the solution of the problem and the simple method of calculating position of multi mobile robot. This paper proposes an optimal cone of relative position acquisition module of multi mobile robot based on trilateration method and, by experiment, the proposed module was verified. The mean of accumulation error is 6.772 cm, which is practically appropriate for most swarm mobile robot navigation and coordination.