Open AccessIndoor Robot Positioning Using an Enhanced Trilateration Algorithm
Author(s) -
Pablo Cotera Elizondo,
Miguel Velazquez,
David Ricardo Cruz,
Luís Medina,
Manuel Bandala
Publication year - 2016
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/63246
Subject(s) - trilateration , computer science , robot , transceiver , factory (object oriented programming) , algorithm , cartesian coordinate system , regular grid , position (finance) , grid , telemetry , simulation , computer vision , real time computing , artificial intelligence , acoustics , wireless , telecommunications , mathematics , physics , geometry , finance , economics , programming language , node (physics)
This paper presents algorithms implemented for positioning a wheeled robot on a production floor inside a factory by means of radio-frequency distance measurement and trilateration techniques. A set of radio-frequency transceivers located on the columns of the factory (anchors) create a grid with several triangular zones capable of measuring the line-of-sight distance between each anchor and the transceiver installed in the wheeled robot. After measuring only three of these distances (radii), an enhanced trilateration algorithm is applied to obtain X and Y coordinates in a Cartesian plane, i.e., the position of the robot on the factory floor. The embedded systems developed for the anchors and the robot are robust enough to establish communication, select the closest anchors for measuring radii, and identify in which of the grid zones the robot is located
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