Laser Ranger-Based Baseline Measurement for Collaborative Localization

Haoming Liu, Mingqing Liu, Yihan Zhu, Qingwen Liu, Hai Lu, Qunhui Yang, Gang Li, Bin He

Abstract: To address challenges in outdoor multirobot collaborative localization (MRCL) due to low-GPS accuracy, we propose a system using three UGVs, each equipped with a shared camera and a laser rangefinder. Our trilateral localization algorithm combines least-squares matrix and gradient descent methods, resulting in an 80.4% improvement in accuracy compared to traditional methods. The system mitigates the limitations of GPS accuracy by utilizing accurate baseline measurements and optimizing the localization process. These advancements have potential applications in transportation, production, and logistics, enhancing MRCL performance in outdoor environments.