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A New Three Object Triangulation Algorithm for Mobile Robot Positioning
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DOI：10.1109/TRO.2013.2294061.png)
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Abstract
En 中文
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.
Keywords:
Mobile robot
positioning
triangulation
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