Optimal cone of relative position acquisition module of multi mobile robot

Son Kuswadi*, Mohamad Nasyir Tamara, Raka Chandraditya, Rona Roberty Nailus Shofy, Mohammad Nuh

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

The research of position acquisition of robots has been done in many years. The robots need to know the position of each other in order to be able to coordinate for task to be done together. The conventional method of position sensing is using odometry by utilizing encoder attached to the wheel which depends on non-slippery condition. This method results unexpected errors in most cases. Trilateration is one of the solution of the problem and the simple method of calculating position of multi mobile robot. This paper proposes an optimal cone of relative position acquisition module of multi mobile robot based on trilateration method and, by experiment, the proposed module was verified. The mean of accumulation error is 6.772 cm, which is practically appropriate for most swarm mobile robot navigation and coordination.

Original languageEnglish
Title of host publication2016 International Conference on Knowledge Creation and Intelligent Computing, KCIC 2016
EditorsAli Ridho Barakbah, M. Udin Harun Al Rasyid, Ahmad Zainudin
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages94-98
Number of pages5
ISBN (Electronic)9781509052318
DOIs
Publication statusPublished - 2 Jul 2016
Event5th International Conference on Knowledge Creation and Intelligent Computing, KCIC 2016 - Manado, Indonesia
Duration: 15 Nov 201617 Nov 2016

Publication series

Name2016 International Conference on Knowledge Creation and Intelligent Computing, KCIC 2016

Conference

Conference5th International Conference on Knowledge Creation and Intelligent Computing, KCIC 2016
Country/TerritoryIndonesia
CityManado
Period15/11/1617/11/16

Keywords

  • multi mobile robot
  • odometry
  • swarm robot
  • trilateration

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