Implementation of mutual localization of multi-robot using particle filter

Abstract

This paper describes an implementation of mutual localization of swarm robot using particle filter. Robots determine the location of the other robots using wireless sensors. Measured data will be used for determination of the robot itself moving method. It also effects on the other robot's formation such as circle and line type formation. We discuss the problem in circle formation enclosing target which moves. This method is the solution about enclosed invader in circle formation based on mutual localization of multi-robot without infrastructure. We use trilateration which does not need to know the value of the coordinates of reference points. So, specify enclosed point for the number of robots based on between the relative positions of the robot in the coordinate system. Particle filter is used to improve the accuracy of the robot's location. The particle filter is well operated for mutual location of robots than any other estimation algorithm. Through the experiments, we show that the proposed scheme is stable and works well in real environments. © 2012 Springer-Verlag.