Multi-Robot Cooperative Localization Based on Relative Bearing

Abstract

We study the problem of Multi-Robot Simultaneous Localization in an unknown environment based on relative bearings with EKE.Relative bearings from different robots are shared among members of the team.Localization accuracy of robot group can be improved obviously by fusing relative bearings.We analyse the situations about relative position of the robots and their motion trajectories,which easily produce not-converged results.We present an improved method to overcome the fault.The robust and practicability of localization are greatly increased.Simulation results prove the method is effective in dealing with the cooperative localization problem.