Absolute Localization of Fast Mobile Robots Based on an Angle Measurement Technique

This paper presents an algorithm for absolute localization of mobile robots, which are equipped with an onboard-device making angular measurements on the location of known but undistinguishable landmarks. A simple linear solution for the robot position given N ≥ 3 angle measurements is derived. The associated uncertainties in both landmark positions and angle measurement are modeled as unknown but bounded in amplitude. Experiments with the set theoretic estimator demonstrate its simplicity and effectiveness in real-world applications.