Distributed navigation system for uniaxial wheeled modules

Abstract

The possibility of the development of a distributed navigation system for the efficient estimation of the navigation parameters of a group of ground mobile modules is considered. A distinctive feature of the proposed system is that only a small part of the modules is equipped with precise navigation equipment. The problem is solved in a nonlinear formulation for nonholonomic wheeled modules using the Bayesian filter in the form of a particle filter. The consistency of the estimation of navigation parameters in the distributed system of modules is provided by the covariance intersection algorithm.