Final published version
Licence: CC BY: Creative Commons Attribution 4.0 International License
Research output: Contribution to Journal/Magazine › Journal article › peer-review
Research output: Contribution to Journal/Magazine › Journal article › peer-review
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TY - JOUR
T1 - Indoor Robot Positioning Using an Enhanced Trilateration Algorithm
AU - Cotera, Pablo
AU - Velazquez, Miguel
AU - Cruz, David
AU - Medina, Luis
AU - Bandala, Manuel
PY - 2016/6/2
Y1 - 2016/6/2
N2 - 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.
AB - 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.
KW - Indoor Wireless Positioning
KW - RF Distance Measurement
KW - Trilateration
U2 - 10.5772/63246
DO - 10.5772/63246
M3 - Journal article
AN - SCOPUS:84994048575
VL - 13
JO - International Journal of Advanced Robotic Systems
JF - International Journal of Advanced Robotic Systems
SN - 1729-8806
IS - 3
ER -