Generalized geometric triangulation algorithm for mobile robot absolute self-localization

• Type: Article in International Conference Proceedings Book
• Date: 2003

Authors

J. S. Esteves (Author) Other; Adriano Carvalho (Author) FEUP; C. Couto (Author) Other

Conference proceedings International

Title: 2003 IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, VOLS 1 AND 2

Pages: 346-351

IEEE International Symposium on Industrial Electronics

RIO DE JANEIRO, BRAZIL, JUN 09-11, 2003

Indexing

ISI Web of Knowledge - 13 Citations

Other information

Authenticus ID: P-000-KTS

DOI: 10.1109/ISIE.2003.1267272

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6