Collaborative Multi-Robot Monte Carlo Localization in Assistant Robots

摘要

This paper presents an algorithm for collaborative mobile robot localization based on probabilistic methods (Monte Carlo localization) used in assistant robots. When a root detects another in the same environment, a probabilistic method is used to synchronize each robot's belief. As a result, the robots localize themselves faster and maintain higher accuracy. The technique has been implemented and tested using a virtual environment capable to simulate several robots and using two real mobile robots equipped with cameras and laser range-finders for detecting other robots. The result obtained in simulation and with real robots show improvements in localization speed and accuracy when compared to conventional single-robot localization.