路标定位中的优化选择策略

基于合作路标的三角定位是自主式移动机器人的主要定位方法。路标的优化选择是提高定位算法精度的关键。本文在给出该算法原理的基础上，通过理论分析和实验证明了路标优化选择对提高定位算法精度的作用，并介绍了路标优化选择的准则。

Landmarks Optimal Selecting for Global Location of Mobile Robot

Triangulation location based on landmarks is a major method for autonomous mobile robot. When the landmark distribution beyond a range, small error at measures parameters would result in large location error. So the landmark selecting is the key for increasing location precise. In this paper, the principle of the global location method will be introduced, then the action of optimal landmarks selecting for increase the precise of location method will be theoretically analyzed and experimentally testifying, the rule of optimal selecting will be given, and the experiment results are given at the last.