Research of Indoor Localization Technology of Robot Based on Cosines Law

A new method of indoor robot localization is proposed in this paper. Landmarks can be placed anywhere in a 3D-dimension space. Each landmark transfers its position with coded messages. The robot can acquire the landmarks' position by decoding the messages without map-preparing. Based on the law of cosines, this method is used to calculate the position with the angles of detecting several landmarks. It has the advantages of no error-cumulation. The localization method can implement properly with any type of robot platform, and landmark distance-detection and map-preparation are not required. Which decreases the error-generate probability. It also has the advantages of low-cost, landmark easy-setting and high localization accuracy. The accuracy and computation complexity can be dynamically selected while the non-linear error is fixed. The availability and accuracy of this method is proved with indoor experiments.