Indoor Robot Positioning Using an Enhanced Trilateration Algorithm

International Journal of Advanced Robotic Systems

David Cruz¹  Pablo Cotera¹  Manuel Bandala¹  Miguel Velazquez¹  Luis Medina¹ 

关键词: Trilateration;    Indoor Wireless Positioning;    RF Distance Measurement;   

DOI  :  10.5772/63246

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

Unknown