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Mobile robot localization. Revisiting the triangulation methods

Author
Font-Llagunes, J.M.; Agullo, J.
Type of activity
Presentation of work at congresses
Name of edition
8th International IFAC Symposium on Robot Control
Date of publication
2011
Presentation's date
2006-09-07
Book of congress proceedings
Proceedings of the 8th International IFAC Symposium on Robot Control
First page
1
Last page
6
Publisher
International Federation of Automatic Control (IFAC)
Repository
http://hdl.handle.net/2117/11418 Open in new window
Abstract
Localization is one of the fundamental problems in mobile robot navigation. In this context, triangulation is used to determine the robot pose from landmarks position and angular measurements. The method based on circle intersection is the preferred one because it is independent of the robot heading. Nevertheless, it becomes undetermined when the robot point is on the circumference that contains the landmarks used. To cope with it, a triangulation method based on straight lines intersection is p...
Citation
Font-Llagunes, J.M.; Agullo, J. Mobile robot localization. Revisiting the triangulation methods. A: IFAC Symposium on Robot Control. "8th International IFAC Symposium on Robot Control". Bolònia: International Federation of Automatic Control (IFAC), 2006, p. 1-6.
Group of research
BIOMEC - Biomechanical Engineering Lab
CREB - Biomedical Engineering Research Centre

Participants