1A1-C06 Object Transportation System by Multiple Omni-Directional Mobile Robots
Shenglong Wu, Eijiro Takeuchi, Takashi Tsubouchi, Eiji Koyanagi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2007
In this paper, we propose a method to estimate the relative positions of multiple robots in a transportation system without using force/torque sensors. The estimation method is based on robots measured velocities using Particle Filter. The estimation algorithm is implemented to three omni-directional mobile robots, and the experimental results illustrate the validity of this method.