Relative Position Estimation for Long Object Transportation by Multiple Omni-directional Mobile Robots

Abstract

In this paper, we describe a mutual position estimation method for multiple omni-directional mobile robots using only internal field sensors. Today’s material transportation requires multiple manpower and is a repetitive and frequent task. In order to solve this problem, a plurality of small robots are used for transportation. By moving each robot restrained by materials appropriately by hand, mutual position estimation between the robots can be performed, and it is possible to move by operating the controller. In this paper, we experiment with two approaches to estimate the mutual position and center of rotation between robots based on a single equation.