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TitleGeneralized geometric triangulation algorithm for mobile robot absolute self-localization
Author(s)Esteves, João Sena
Carvalho, Adriano
Couto, Carlos
KeywordsMobile robots
Robot navigation
Position location
Dead reckoning
Educational institutions
Iterative algorithms
Position measurement
Robotics and automation
Issue dateJun-2003
CitationISIE'03. IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, Rio de Janeiro, 2003 - "Proceedings" [CD-ROM]. Piscataway : IEEE, 2003. ISBN 0-7803-7912-8.
Abstract(s)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.
TypeConference paper
AccessRestricted access (UMinho)
Appears in Collections:DEI - Artigos em atas de congressos internacionais

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