Localization consists of finding the position of the robot, or more generally all its degrees of freedom. Instantaneous, or model‐free localization mainly consists of solving equations of geometric nature which are often nonlinear. The robots are equipped with numerous sensors that are used for their localization. This chapter introduces the main sensors used for localization: odometers, doppler log, accelerometers, gyro or gyroscope, global positioning system, barometer, radar or sonar, and cameras. The problem consists of using angles measured between the robot and the landmarks, whose position as a function of time is known, for localization. The chapter presents goniometric localization (in which the robot uses the angles of perception of landmarks) followed by the principles of the multilateration, which uses distances between the robot and the landmarks. Goniometric localization often breaks down to intersecting arcs.
Instantaneous Localization
Mobile Robotics ; 221-242
2019-09-30
22 pages
Article/Chapter (Book)
Electronic Resource
English
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