Multi-robot team outdoor localization using active marker and high frequency signal sources

摘要

Localization of a mobile robot is a fundamentally first step and key algorithm to successfully perform formation control for the multi-robot team. Previous researches have been studied about the localization method in outdoor and indoor environment with various sensors. This paper describes and focuses on the localization of mobile robots outdoor terrain. Information based on the relative coordinate will be directly obtained among team members not required any landmarks and global positioning measurements GPS, magnetic compass and so on. Though a vision based approach commonly not used outdoor environment on account of natural illumination disturbances, we represent a new approach designed active marker to minimize the disturbance and fused high frequency source localization using TDOA algorithm. Proposed cooperative localization method will be proper to implement unknown or global poisoning system unavailable outdoor environment.