A Method for Position Estimation of Mobile Robot Based on Data Fusion

Abstract

Triangulation is a commonly used method for position estimation of mobile robots. In this work, we describe the triangulation algorithms in detail and analyze the error by establishing a Gaussian error model. We perform multiple triangulation algorithms using angular information of landmarks in one scan. A different approach is proposed to fuse the estimated values which is acquired from multiple triangulation algorithms. The proposed algorithm effectively improves the accuracy of position estimation based on triangulation and reduces the uncertainty of position.