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TitlePosition and orientation errors in mobile robot absolute self-localization using an improved version of the generalized geometric triangulation algorithm
Author(s)Esteves, João Sena
Carvalho, Adriano
Couto, Carlos
Mobile robot localization
Issue date2006
CitationINTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, Mumbai, India, 2006 – “ICIT 2006”. [S.l. : s.n., 2006]. p. 830-835.
Abstract(s)Triangulation with active beacons is widely used in the absolute localization of mobile robots. The original Generalized Geometric Triangulation algorithm suffers only from the restrictions that are common to all algorithms that perform self-localization through triangulation. But it is unable to compute position and orientation when the robot is over the segment of the line that goes by beacons 1 and 2 whose origin is beacon 1 and does not contain beacon 2. An improved version of the algorithm allows self-localization even when the robot is over that line segment. Simulations results suggest that a robot is able to localize itself, with small position and orientation errors, over a wide region of the plane, if measurement uncertainty is small enough.
TypeConference paper
AccessRestricted access (UMinho)
Appears in Collections:DEI - Artigos em atas de congressos internacionais

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