A New Beacon-based System for the Localization of Moving Objects

In this paper a new system for the 2D localisation of moving objects and mobile robots is presented. A rotating laser on board the moving object sweeps the surrounding space, reaching a set of known-position beacons. Each time the light reaches a beacon, it emits a radiofrecuency identity code. The corresponding (known) beacon position, along with the actual laser angle allow the position and orientation of the object to be calculated though triangulation. The system supplies 15 localisations per second to an accuracy of 1 cm and 0.1o, which is suitable for vehicle or goods localisation in automated storehouses, or robot navigation, for example.