Navigation strategies for cooperative localization based on a particle-filter approach

Authors:
Fernando Gomez Bravo;Alberto Vale;Maria Isabel Ribeiro
Affiliations:
(Correspd. Tel.: +34 959 21 76 38/ Fax: +34 959 21 73 04/ fernando.gomez@diesia.uhu.es) Depo. de Ingen. Elec., Sistemas Informá/ticos y Automá/tica, Escuela Polité/cnica Sup., Univ. de ...;Albatroz Engenharia S.A., Rua da Conceiç/ã/o 60,1, P-1100-154 Lisboa, Portugal. E-mail: alberto.vale@albatroz-eng.com;Institute for Systems and Robotics, Instituto Superior Té/cnico, Av. Rovisco Pais 1,P-1049-001 Lisboa, Portugal. E-mail: mir@isr.ist.utl.pt
Venue:
Integrated Computer-Aided Engineering
Year:
2007

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Abstract

This paper proposes a set of navigation strategies to cooperatively localize a team of robots by applying a Particle-Filter approach. The main mission consists in exploring unknown, isolated and unstructured scenarios, where no Global Positioning System is available. By means of the cooperative localization technique and a behaviour based controller the robots have to return to the initial configuration. The proposed approach relies on distance and orientation measurements between the individual robots, and between the robots and a fixed active beacon. Simulation results are presented.