移动机器人绝对自定位的广义几何三角测量算法

2003 IEEE International Symposium on Industrial Electronics ( Cat. No.03TH8692) Pub Date : 2003-06-09 DOI:10.1109/ISIE.2003.1267272

João Sena Esteves, A. Carvalho, Carlos Couto

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引用次数: 96

摘要

主动信标三角测量在移动机器人的绝对定位中得到了广泛的应用。几何三角测量算法允许机器人在平面上进行自定位。然而，它使用的三个信标必须“正确排序”，并且只有当这些信标在三角形内形成机器人时，算法才能始终工作。本文提出了一种改进的算法，该算法不需要信标排序，除了少数无法定位的确定线外，可以在整个导航平面上工作。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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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 these beacons within the triangle form the robot. 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.

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2003 IEEE International Symposium on Industrial Electronics ( Cat. No.03TH8692)

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