Particle-filter approach for cooperative localization in unstructured scenarios

Abstract

This paper presents a Particle Filter approach to solve the metric localization of a team of three robots. The method considers the existence of a fixed active beacon which has sensorial capabilities. The localization strategy is based on the distance and orientation measurements among the robots and the robots and the fixed active beacon. By means of this technique the team of robots are capable of navigating in isolated and unstructured scenarios. In spite of common differential vehicles, this approach is intended to be applied in car-like vehicles, still a large scope of mobile robots in real environments. © 2008 Springer-Verlag Berlin Heidelberg.