Research on location method for mobile robots formation based on global-camera

Robot localization is the key problem for mobile robot formation. In this paper, a localization method of mobile robot formation is put forward based on global-camera. According to the request of real-time control system, at first we pick-up the identifier of robot, then we estimate the position and orientation of the robot with the identifier. At last, LMS algorithm is used to minimize the estimation error. Experiments show the method is effective for localization of autonomous mobile robots formation, as well as robustness against environment disturbance.