Hardware realization of autonomous robot localization system

One of the most important problems in autonomous robot guidance is their localization, i.e. determining their physical location within their operating area. In this paper we describe hardwre realization of triangulation method for localization of wheeled autonomous robot that operates on flat rectangular surface. Triangulation is a method of calculating location of robot relative to 3 landmarks (beacons) located on fixed predetermined positions. This method usually needs measurement of distances between robot and beacons, to be able to calculate robot position. Different approach based on angle measurement is described in this paper, advantages of this method are discussed and details of hardware realization are explained. System is realized and tested, measurement results are given.