2-D cooperative localization with omni-directional mobile robots

In this paper, we propose cooperative localization scheme based feedback control for the multiple omni-directional mobile robots. Using the proposed cooperative localization scheme, localization capability of each mobile robot is enhanced, although some of the robots loss its absolute position measurement. Position error is bounded based on relative measurements which is unbounded for dead reckoning. Implementation results are also provided to validate the theory.

1. Introduction

Localization is one of the most important issues for the control of mobile robots. By using the data from both proprioceptive and exteroceptive sensors, the position and orientation of mobile robot can be estimated. Without absolute measurement, such as in GPS denied environment, mobile robot needs the position and orientation information to navigate itself. To deal with this localization problem, various methods are provided such as SLAM (Simultaneous Localization and Mapping) and CL (Cooperative Localization). [2], [6]