The Cognition Problem of Surroundings for the Agent Based on Direction Measurement

This paper investigates the cognition problem of surroundings for the agent only with the knowledge of angle measurement. In this paper, in virtue of the local motion information of the agent, the problem determining the agent's position and attitude in surroundings with only angle measure-ment is attributed to solve linear algebraic equations. Based on the obtained position and attitude information, the localization problem of the object in surroundings is handled by solving overdetermined linear algebraic equations. Finally, the proposed methods are verified by the experiments.