System and method for localization utilizing dynamically deployable beacons

摘要

A beacon-based localization system utilizes a mobile object with dynamically deployable beacons for guiding the mobile object. In one form, the localization system includes a mobile object, at least two beacons and preferably a plurality of beacons, and devices for deploying and retrieving beacons. The mobile object, as well as the beacons, includes location determination units for determining location of a beacon, and communications units for communicating with the mobile object and other beacons. The mobile object deploys beacons at various known and determined locations. Initially placed beacons can provide enough location information to establish an initial work area. After work is completed in the initial area, or to cover blocked portions of the initial area, the mobile object can retrieve one or more of the beacons and place them at a new location or strategically place additional beacons from the mobile object. After each placement of an additional beacon the location is stored for later use in the localization computations. Once the work area coverage has been expanded or improved, work can continue.