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ISSN : 1975-6291(Print)
ISSN : 2287-3961(Online)
Journal of Korea Robotics Society Vol.2 No.3 pp.255-261

다중 이동 로봇의 주행 계와 저가 GPS 데이터의 최적 융합을 통한 2차원 공간에서의 위치 추정

조 경 환1, 이 지 홍, 장 철 수3
충남대학교 BK21 메카트로닉스 사업단 교수, 1충남대학교 BK21 메카트로닉스 사업단 석사 과정, 3한국전자통신연구원 지능형로봇연구단 선임연구원

Cooperative Localization in 2D for Multiple Mobile Robots by Optimal Fusion of Odometer and Inexpensive

Jihong Lee, Jo Kyounghwan1, Jang Choulsoo3


We propose a optimal fusion method for localization of multiple robots utilizing correlationbetween GPS on each robot in common workspace. Each mobile robot in group collects position datafrom each odometer and GPS receiver and shares the position data with other robots. Then each robotutilizes position data of other robot for obtaining more precise estimation of own position. Because GPSdata errors in common workspace have a close correlation, they contribute to improve localizationaccuracy of all robots in group. In this paper, we simulate proposed optimal fusion method of odometerand GPS through virtual robots and position data.


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