What if the person is on the left or right of the robot? I ask because you only mention forward or backward.
In my logic I guess it works in any position with 3 anchors.
I thought about that, it is the simplest after thinking about it, but, it is inefficient and will cause the robot to look crazy when making an inaccurate movement, it is better to go straight to the direction of the person.
placing 3 anchors at 30 CM each and 1 label on the person
Try it and let us know if it works!
You are asserting that if three anchors must be located within, say, an X by Y rectangle (to fit the available space on the rover), then placing them all in a line, say parallel to the longest direction (X or Y), or along the diagonal, is the optimum configuration for...what? Location accuracy... or code size... or both? Got proof?
No need to guess.
If you want to save the cost and complexity of an additional (3rd) anchor, then you must make some compromises. (And I would say that even with three anchors, it WILL look a bit crazy, judging from that video. I doubt the third anchor will help much to reduce the effect of distance errors and the resulting erratic left/right movements.)
Having the third beacon in a line with the other two would render it useless. 
Can you see why?
Of course. I was hoping @anon22423185 would realize that when trying to explain his claim that having them in a line is some sort of optimum.
Edited to add: I guess the reason I didn't mention it is that I'm more interested in the general question of the optimum location of three anchors in a rectangle with long side X, short side Y, and proportion Y/X, to minimize the error in calculated location of a tag in a certain area around the collection of sensors. It's clearly not with the anchors "on a line."
But is it with an anchor in the two corners separated by X, with the 3rd in the center of the opposite long edge?
Or is it with an anchor in each of three corners?
Some other solution?
Is there one solution that is optimum for all proportions Y/X?
As mentioned, obviously, as Y/X goes to zero, the arrangement becomes more linear, and eventually resolving the "which side of the line is the tag on" becomes impossible.
Well... The proof is the law of cosine, tangens and
I spend my days calibrating electronic-shooting ranges. There we triangulate the bullet with unknown x/y but thats more complex since its a Mach-cone. However to triangulate a not moving source in realtime the equation is pretty basic.
1 P emitting a signal.
2. Sensor1 gets the signal at time X1
3 Sensor2 get the signal at timeX2
4 The angle from the sensorline with respect to P is tangens of DTimeX*Speed of sound/Light ..
5 The third sensor is just to get a "null" to start counting and it gives you a second angle . the third sensor has to be hit first. Therfore the line.
@DaveEvans ....Every line in a square, triangle or any shape is....a line. So the equations is thesame regardless where u put the sensors.
The most opimized arrangement is however
We did something like this about eight years ago to locate equipment and personnel in a fire-ground.
Of course as mentioned, you must have at least two known positions to derive any extra locations.
Surely it can be done with 2 sensors? Make the assumption that the target is at the position in front of the robot and begin moving the robot forward while continuing to triangulate the target. After a short time it will be clear if the robot is moving towards the target or not. If the target gets closer, the assumption was correct. If it gets farther away, the assumption was incorrect. The robot now knows the true position of the target. That should work, right? Assuming the target is stationary...
Hello. I am new to arduino, so I don't know much about pins. I found this tutorial that explains how to do what I want with an arduino UNO: Interfacing DWM1000 Positioning Module with Arduino
My problem is that I use an arduino Nano and I don't know if everything will work the same (I don't want to burn anything due to some bad connection).
The tutorial image is this:
The image of the connections I made is this (some are still missing):
My question is the following:
Hi,
Is this to do with this?
Tom... 
Hi,
What do you think the 5V pin on the Nano is for?
Tom...
Vin is an input for power and it does not offer any output voltage/power.
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Well, I was missing the 5V pin, sorry, I'm a newbie.
Can you help me with my other two questions? I don't want to burn anything.
Hi,
What is the pin circled.
Can you please tell us your electronics, programming, arduino, hardware experience?
Tom...
I apologize, as I said, I am a newbie with dyslexia. I greatly appreciate your help. Although it is something simple, it has served me a lot.
Here I finished the diagram:
I'm going to ask a few questions just to double-check that everything is okay. I hope not to bother:
1- Regarding the AMS1117 module that I bought by amazon.
https://www.amazon.com/dp/B01HXU1NQY
It has 3 pins, VIN (red), OUT (purple), GND (black). Are my connections correct?
2- I put the connections on the exact pins that the tutorial says: 13, 12, 11, 10, 9, 2. Will everything work fine? (I ask because I use Nano and the tutorial is ONE).
3- I'm really going to appreciate being told if I have a mistake.
Hi,
It looks fine, have you got a DMM?
Make sure the gnd of the Nano and the gnd of the regulator and the gnd of the level adapter are all connected together.
Tom...
Thank you.
The DMM module is still on the way (shipping).
