Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival

This paper presents investigations into wireless localization techniques for mobile robots operat-ing 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 obje...

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Main Authors: Oumar, Ousmane Abdoulaye, Sattar, Tariq P., Tokhi, Mohammad Osman
Format: Artículo
Language: Español
Published: Universidad Tecnológica de Panamá 2018
Subjects:
Online Access: http://revistas.utp.ac.pa/index.php/memoutp/article/view/2016
http://ridda2.utp.ac.pa/handle/123456789/5737
id RepoUTP5737
recordtype dspace
spelling RepoUTP57372019-11-29T17:34:15Z Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival Oumar, Ousmane Abdoulaye Sattar, Tariq P. Tokhi, Mohammad Osman mobile robots; wireless sensor This paper presents investigations into wireless localization techniques for mobile robots operat-ing 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. 2018-09-30 2018-12-04T14:32:10Z 2018-12-04T14:32:10Z info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion http://revistas.utp.ac.pa/index.php/memoutp/article/view/2016 http://ridda2.utp.ac.pa/handle/123456789/5737 spa http://revistas.utp.ac.pa/index.php/memoutp/article/view/2016/2958 info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Universidad Tecnológica de Panamá Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 455-468
institution Universidad Tecnológica de Panamá
collection Repositorio UTP – Ridda2
language Español
topic mobile robots; wireless sensor
spellingShingle mobile robots; wireless sensor
Oumar, Ousmane Abdoulaye
Sattar, Tariq P.
Tokhi, Mohammad Osman
Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival
description This paper presents investigations into wireless localization techniques for mobile robots operat-ing 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.
format Artículo
author Oumar, Ousmane Abdoulaye
Sattar, Tariq P.
Tokhi, Mohammad Osman
author_sort Oumar, Ousmane Abdoulaye
title Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival
title_short Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival
title_full Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival
title_fullStr Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival
title_full_unstemmed Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival
title_sort indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival
publisher Universidad Tecnológica de Panamá
publishDate 2018
url http://revistas.utp.ac.pa/index.php/memoutp/article/view/2016
http://ridda2.utp.ac.pa/handle/123456789/5737
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score 11.776181