Generalized geometric triangulation algorithm for mobile robot absolute self-localization

Triangulation with active beacons is widely used in the absolute localization of mobile robots. The Geometric Triangulation algorithm allows the self- localization of a robot on a plane. However, the three beacons it uses must be “properly ordered” and the algorithm works consistently only when the...

Full description

Bibliographic Details
Main Author: Esteves, João Sena (author)
Other Authors: Carvalho, Adriano (author), Couto, Carlos (author)
Format: conferencePaper
Language:eng
Published: 2003
Subjects:
Mobile robots
Robot navigation
Position location
Dead reckoning
Educational institutions
Iterative algorithms
Navigation
Position measurement
Robotics and automation
Robustness
Transportation
Vehicles
Science & Technology
Online Access:http://hdl.handle.net/1822/2023
Country:Portugal
Oai:oai:repositorium.sdum.uminho.pt:1822/2023
Description
Summary:Triangulation with active beacons is widely used in the absolute localization of mobile robots. The Geometric Triangulation algorithm allows the self- localization of a robot on a plane. However, the three beacons it uses must be “properly ordered” and the algorithm works consistently only when the robot is within the triangle formed by these beacons. This paper presents an improved version of the algorithm, which does not require beacon ordering and works over the whole navigation plane except for a few well-determined lines where localization is not possible.

Similar Items