Mapping Property Of Bilateration And Its Application To Human-Following Robot

Objective of this paper is twofold. The first one is to study the mapping property and unified form of the component equations of the unknown node in bilateration, and the second one is to introduce the concept model for human-following robot based on bilateration. Bilateration needs only two known nodes and two distances' data. Because of the simple sensor arrangement in bilateration, it needs less computation and uses less number of unavoidable erroneous distances compared to the trilateration.