Using Relative Localization for Multi-Robot Formation Navigation
F. E. Schneider and D. Wildermuth
Research Establishment for Applied Sciences (FGAN), Wachtberg, Germany
E-mail: schneid1@fgan.de; E-mail: dennis@fgan.de
Pages: 91-99
Subsection: CONTROL SYSTEMS FOR APPLICATION IN SCIENCE AND PRODUCTION
Abstract
A new approach to relative position estimation in multi-robot systems, based on information of laser scanner systems, is presented. An Extended Kalman Filter (EKF) is used to obtain continuously updated position estimation. All robots of a group use these data in order to generate one common coordinate system. Experimental results are presented, including formation movement as an example application.
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