Analysis of sensor arrangements to localize mobile robots with one laser lighthouse

摘要

The concept of the laser lighthouse is introduced and related to the localization of manufacturing tools carried by a mobile robot. Positioning with the laser lighthouse uses triangulation, for which a triplet of light sensors on the robot is applied. The influence of the arrangement of the triplet on the error propagation of the position calculation is investigated by calculation and comparison of the relative condition number under representative operating conditions.