Landmarks Optimization of Triangulation of Autonomous Mobile Robot

A geometric precision criterion is deduced for robot triangulation, showing the effect of landmark set-up on robot localization. It is proved that the precision of robot localization will be the highest one if all the distances between the robot and every landmark are equal to each other and then both the angles included between two adjacent landmarks to the robot are also equal to each other in case the number of relevant landmarks is not less than three. An optimal selection algorithm of landmarks is thus given. Experimental results showed further the validity of the conclusion as above.