Three-Robot Formation Localization

Visualizations of three-robot formation localizing using only range-only and range-bearing. I have recorded screencasts from Autodesk Fusion 360’s sketch view to help visualize the limits of the constraints. In the videos, the Hexagon represents a robot fixed at the origin of it’s local coordinate system. The triangles represent a rigid formation of two robots a fixed distance apart.

Ranges-only localization does not fully constrain relative pose:

Ranges + Bearing for one target fully constrains relative pose:

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