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...
Autores Principales: | Oumar, Ousmane Abdoulaye, Sattar, Tariq P., Tokhi, Mohammad Osman |
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Universidad Tecnológica de Panamá
2018
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http://revistas.utp.ac.pa/index.php/memoutp/article/view/2016 http://ridda2.utp.ac.pa/handle/123456789/5737 |
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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 |
_version_ |
1796210081751105536 |
score |
12.041432 |