Optimal arrangement of artificial landmarks-stargazer in large environment

It is important to set artificial landmarks when a robot needs to navigate in a large and dynamic environment and to measure its own location. However, it has not been discussed well how to arrange landmarks in the optimal way until now. In this paper, the optimal arrangement of artificial landmarks based on StarGazer was studied. The optimal model was built after the analysis to the principal of StarGazer. Genetic algorithm was adopted to solve this optimal model. The Simulation result shows this method can solve the optimal arrangement of artificial landmarks in large environment, the performance of the coverage and evenness can be satisfied.