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A New Three Object Triangulation Algorithm for Mobile Robot Positioning.
- Source :
-
IEEE Transactions on Robotics . Jun2014, Vol. 30 Issue 3, p566-577. 12p. - Publication Year :
- 2014
-
Abstract
- Positioning is a fundamental issue in mobile robot applications. It can be achieved in many ways. Among them, triangulation based on angles measured with the help of beacons is a proven technique. Most of the many triangulation algorithms proposed so far have major limitations. For example, some of them need a particular beacon ordering, have blind spots, or only work within the triangle defined by the three beacons. More reliable methods exist; however, they have an increasing complexity, or they require to handle certain spatial arrangements separately. In this paper, we present a simple and new three object triangulation algorithm, known as ToTal, that natively works in the whole plane and for any beacon ordering. We also provide a comprehensive comparison between many algorithms and show that our algorithm is faster and simpler than comparable algorithms. In addition to its inherent efficiency, our algorithm provides a very useful and unique reliability measure that is assessable anywhere in the plane, which can be used to identify pathological cases, or as a validation gate in Kalman filters. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 15523098
- Volume :
- 30
- Issue :
- 3
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Robotics
- Publication Type :
- Academic Journal
- Accession number :
- 96381124
- Full Text :
- https://doi.org/10.1109/TRO.2013.2294061