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

Article type: Research Article

Authors: Bravo, Fernando Gomez^{a; *} | Vale, Alberto^b | Ribeiro, Maria Isabel^c

Affiliations: [a] Departamento de Ingeniería Electrónica, Sistemas Informáticos y Automática, Escuela Politécnica Superior, Univ. de Huelva, P-21819 La Rábida, Huelva, Spain | [b] Albatroz Engenharia S.A., Rua da Conceição 60, 1, P-1100-154 Lisboa, Portugal. E-mail: [email protected] | [c] Institute for Systems and Robotics, Instituto Superior Técnico, Av. Rovisco Pais 1, P-1049-001 Lisboa, Portugal. E-mail: [email protected]

Correspondence: [*] Corresponding author. Tel.: +34 959 21 76 38; Fax: +34 959 21 73 04; E-mail: [email protected].

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.

DOI: 10.3233/ICA-2007-14305

Journal: Integrated Computer-Aided Engineering, vol. 14, no. 3, pp. 263-279, 2007