Abstract
This paper presents investigations into wireless localization techniques for mobile robots operating in indoor environments. Localization systems can guide robots to perform
different tasks such as monitoring children or elderly people, aid mobility of the visually impaired and localize mobile objects or packages in warehouses. They are essential for localization of robots operating in re-mote places that are inaccessible or hazardous to humans. Currently, ultra wide band (UWB) in indoor environments provides an accuracy of 24 mm under line of sight (LOS) or non-line of sight (NLOS) conditions in a working
range of 160 m indoors. The work presented in this paper carries out experimental validation of localization algorithms using mobile robots and UWB signals. These are measured in LOS and NLOS environments. The measurements are performed with the
UWB radio PulsON 410 (P410) and mobile robots (AmigoBot) with maximum travel-ling speed of 1 m/s and equipped with an on-board computer, sonar, odometer, camera and inertial
navigation system. Experimental results obtained for the system show positioning errors of less than 55 mm.
Original language | English |
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Publication status | Published - 10 Sept 2018 |
Event | CLAWAR 2018 - Duration: 9 Oct 2018 → … |
Conference
Conference | CLAWAR 2018 |
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Period | 9/10/18 → … |