Title: Error propagation and solvability in UAV localisation based on trilateration with a multi robot formation
Authors: Luis Ruiz; Zhidong Wang
Addresses: Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan ' Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan
Abstract: This works presents how the propagation of errors from stations affects the trilateration, as seen from the error in the receiver covariance. Also, a method to calculate a solvability map in real-time is developed. This map is useful to select formations when using trilateration and to choose how a multi robot formation has to move in a given environment. The mathematical tools used are explained and proven in a real-time test and a simulation. The multi robot formation consists of omnidirectional wheeled mobile robots and an unmanned aerial vehicle in three dimensions.
Keywords: trilateration; solvability; multi robot; localisation.
International Journal of Mechatronics and Automation, 2016 Vol.5 No.4, pp.201 - 210
Received: 30 Jul 2016
Accepted: 27 Sep 2016
Published online: 21 May 2017 *