Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/2023
Título: | Generalized geometric triangulation algorithm for mobile robot absolute self-localization |
Autor(es): | Esteves, João Sena Carvalho, Adriano Couto, Carlos |
Palavras-chave: | Mobile robots Robot navigation Position location Dead reckoning Educational institutions Iterative algorithms Navigation Position measurement Robotics and automation Robustness Transportation Vehicles |
Data: | Jun-2003 |
Editora: | IEEE |
Citação: | ISIE'03. IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS, Rio de Janeiro, 2003 - "Proceedings" [CD-ROM]. Piscataway : IEEE, 2003. ISBN 0-7803-7912-8. |
Resumo(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. |
Tipo: | Artigo em ata de conferência |
URI: | https://hdl.handle.net/1822/2023 |
ISBN: | 0-7803-7912-8 |
DOI: | 10.1109/ISIE.2003.1267272 |
Arbitragem científica: | yes |
Acesso: | Acesso restrito UMinho |
Aparece nas coleções: | DEI - Artigos em atas de congressos internacionais |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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BF-003328.pdf Acesso restrito! | 551,4 kB | Adobe PDF | Ver/Abrir |