다 개체 로봇의 위치추정에 관한 연구

The block expansion algorithm for estimation of location for multiple robots in a wide area is proposed in this paper. The iGS which used for probation of the block expansion algorithm is comprised of 433Mhz communication part, 2.4GHz communication part, 2.4GHz/zigbee communication part, and ultrasonic signal Tx/Rx part. 433MHz transceiver was used for control and monitoring of Basestation node to Reference/Blind node and ultrasonic sensor was used for measuring distance from Reference node to Blind node using triangulation. Block expansion algorithm has many advantages of location estimation for multiple robots in a wide area and preventing interference of signal. The efficiency of the algorithm is verified through the real experiments.