Research on Cooperative Localization for Multi-Robot System Based on Sound Sensors Net

A sound-based method for multi-robot localization system is proposed. Microphone arrays and acoustic beacons should be placed on the robots and combined with the wireless module to form wireless sound sensors net.Take a robotu0027s coordinate system as global coordinate systen and estimate anotheru0027s locations with TDOA(Time Difference Of Arrival)algorithm,convert the location into global coordinate and adjust everyoneu0027s attitude and location. In second-dimension environment the system realizes multi-robot localization. The experiments show that the method performs simply,easily,remotely without any peripherals,enviroment compatible with special signal and it has important practical values.