ISRAA S. AL-FURATI et al: IR SENSORS ARRAY FOR ROBOTS LOCALIZATION USING K MEANS CLUSTERING

the localization problem is resolved by using an array of IR receiver sensors distributed uniformly in the environment. the position of a multi-robot system in an indoor localization system is successfully estimated using a new algorithm. The necessary information for the localization development is collected by scanning the IR sensor array in the environment. The scanning process is done column by column to recognize and state the position of the IR receiver’s sensors, which receive signals from the IR transmitter that is fixed on the robot. This principle of scanning helps to minimize the required time for robot localization. The kmeans clustering algorithm is used to estimate the multi-robot’s locations by isolating the labeled IR receivers into clusters. Basically, the multi-robot position is estimated to be in the middle of each cluster. Simulation results demonstrate the advanced algorithm in estimation to the multi-robot positions for various dimensional IR receiver’s array.