Generalized geometric triangulation algorithm for mobile robot absolute self-localization

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2003

Autores

J. S. Esteves (Autor) Outra; Adriano Carvalho (Autor) FEUP; C. Couto (Autor) Outra

Ata de Conferência Internacional

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

Páginas: 346-351

IEEE International Symposium on Industrial Electronics

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

Indexação

ISI Web of Knowledge - 13 Citações

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6