Rotation of Theta

<sidebar>Robotic Sensing: Adaptive Robotic Control for Improved Acoustic Source Localization in 2D Nav</sidebar>

Overview

Rotating the robots around the midpoint between them, that is, changing the variable Theta (show in diagram below), becomes important when dealing with physical limitations on the 2D movement. If the robots are confined by any type of boundary, the optimal configuration would have them align along that boundary, rather than facing forwards (with Theta=0). Commanding the robots to rotate in this way is an important step in improving localizing on a 2D surface.

Illustration

• This diagram shows a Counter Clockwise Rotation of the entire Array by ΔѲ.
• The source estimation has improved from the previous location. The only parameters changed were Theta, Alpha, and Beta; |U| was not changed.