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According to the precise positioning needs of the autonomous mobile robot, a three-point precise location measurement method is presented for the mobile robot control. In this location method, the parameters measured on the ultrasonic sensors be re-demarcated and filtered by error threshold under local coordinate system, precise position of mobile robot can be achieved. The performance of three-point precise location method has been performed on the services robot under the varying conditions. The experimental results show that the validity of the suggested method is verified.