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To satisfy the requirements of independent navigation in low cost multiple robots,a navigation frame of masterslave robots with only one master robot is introduced briefly.A range-only navigation algorithm for slave robots of low cost is presented for the navigation in unknown current.This algorithm only needs a master robot.The master is just a single mobile node which has high navigation performance.Observability of this master-salve system is theoretically analyzed.The conditions of slave robot trajectory under which observability is guaranteed are evaluated by a slave robot in real-time.The slave takes appropriate action to control its heading to achieve observability if observability is lost on the current trajectory.The navigation algorithm is implemented by a standard extended Kalman filter,and it is able to acquire accurate estimation of robot’s position.The simulation results show its effectiveness of the proposed algorithm.
To satisfy the requirements of independent navigation in low cost multiple robots, a navigation frame of masterslave robots with only one master robot is referred briefly. A range-only navigation algorithm for slave robots of low cost is presented for the navigation in unknown current. algorithm only needs a master robot. The master is just a single mobile node which has high navigation performance. Observability of this master-salve system is theoretically analyzed. The conditions of slave robot trajectory under which observability is guaranteed are evaluated by a slave robot in real-time. The slave takes the appropriate action to control its heading to achieve observability if observability is lost on the current trajectory. The navigation algorithm is implemented by a standard extended Kalman filter, and it is able to acquire an accurate estimation of the robot’s position. simulation results show its effectiveness of the proposed algorithm.