Localization of Mobile Robots. Theoretical Aspects

This paper presents a set of theoretical and applicative considerations related to the localization of mobile robots in operating scenes. They are necessary and useful for the design of their autonomous or semi-autonomous driving and navigation systems. Fundamentals of relative localization and absolute localization of mobile robots are included. The paper develops the sets of equations associated and specific to each localization type between the two analyzed. Several aspects related to the modeling of the relative localization process, analysis of measurement errors, technological considerations regarding the placement of passive beacons and the specific calculations developed for their 2D and 3D layout variants in relation to a mobile robot are included.