Cotera, Pablo and Velazquez, Miguel and Cruz, David and Medina, Luis and Bandala, Manuel (2016) Indoor Robot Positioning Using an Enhanced Trilateration Algorithm. International Journal of Advanced Robotic Systems, 13 (3). ISSN 1729-8806
Full text not available from this repository.Abstract
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.