Optimal position estimation of multirobots based on active beacon and dead-reckoning

For a new alternate localization method of multirobots, an optimal position estimation method of multirobots based on active beacon and dead-reckoning is discussed. Three out of the multiple robots are always kept still and act as beacons (not always the same three robots) while the others act as mobile robots. The mobile robots get respectively their distance from the three beacon robots with the ultrasonic measuring module on it. Then with the IEKF algorithm, the distance data and the dead-reckoning data of the mobile robot are fused together to get the optimal estimation of the position for the mobile robot. By taking the robots act as beacons in turn, it can realize the position estimation of multirobots. The experimental results show that the error of the position estimation is within ±10 mm, which verifies the method's validity. This method is meaningful for applications to robots in unknown environment, as it is not necessary to put fixed beacons in the environment.