Experimental demonstration of self-localized Ultra Wideband indoor mobile robot navigation system

Segura, Marcelo; Hashemi, Hossein; Sisterna, Cristian; Mut, Vicente

doi:10.1109/ipin.2010.5647457

Cited by 31 publications

(20 citation statements)

References 20 publications

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“…A global map is obtained in C-SLAM by merging individual maps obtained by multiple robots. Additionally, accurate navigation of mobile robot in indoor environments is achieved through an UWB navigation system [125]. The navigation system consists of two sub-systems: the robot control system and the localization system.…”

Section: A Roboticsmentioning

confidence: 99%

Recent Advances in Indoor Localization: A Survey on Theoretical Approaches and Applications

Yassin

Nasser

Awad

et al. 2017

IEEE Commun. Surv. Tutorials

766

444

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Abstract-The availability of location information has become a key factor in today's communications systems allowing location based services. In outdoor scenarios, the mobile terminal position is obtained with high accuracy thanks to the Global Positioning System (GPS) or to the standalone cellular systems. However, the main problem of GPS and cellular systems resides in the indoor environment and in scenarios with deep shadowing effects where the satellite or cellular signals are broken. In this paper, we survey different technologies and methodologies for indoor and outdoor localization with an emphasis on indoor methodologies and concepts. Additionally, we discuss in this review different localization-based applications, where the location information is critical to estimate. Finally, a comprehensive discussion of the challenges in terms of accuracy, cost, complexity, security, scalability, etc. is given. The aim of this survey is to provide a comprehensive overview of existing efforts as well as auspicious and anticipated dimensions for future work in indoor localization techniques and applications.

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Section: A Roboticsmentioning

confidence: 99%

Recent Advances in Indoor Localization: A Survey on Theoretical Approaches and Applications

Yassin

Nasser

Awad

et al. 2017

IEEE Commun. Surv. Tutorials

766

444

View full text Add to dashboard Cite

show abstract

“…As a consequence, it has very recently been adopted by the robotics community. In [15], an UWB receiver is mounted on a mobile robot which uses a TDOA algorithm between pairs of anchor nodes to estimate its own position. The robot's selflocalization algorithm is based on UWB measurements, yet it does not employ an UWB error model, and instead relies on a least squares method to solve the multilateration problem.…”

Section: A Related Workmentioning

confidence: 99%

Online model estimation of ultra-wideband TDOA measurements for mobile robot localization

Prorok

Gonon

Martinoli

2012

2012 IEEE International Conference on Robotics and Automation

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Abstract-Ultra-wideband (UWB) localization is a recent technology that promises to outperform many indoor localization methods currently available. Yet, non-line-of-sight (NLOS) positioning scenarios can create large biases in the time-difference-of-arrival (TDOA) measurements, and must be addressed with accurate measurement models in order to avoid significant localization errors. In this work, we first develop an efficient, closed-form TDOA error model and analyze its estimation characteristics by calculating the Cramér-Rao lower bound (CRLB). We subsequently detail how an online Expectation Maximization (EM) algorithm is adopted to find an elegant formalism for the maximum likelihood estimate of the model parameters. We perform real experiments on a mobile robot equipped with an UWB emitter, and show that the online estimation algorithm leads to excellent localization performance due to its ability to adapt to the varying NLOS path conditions over time.

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“…As a consequence, it has very recently been adopted by the robotics community. In [17], an UWB receiver is mounted on a mobile robot which uses a TDOA algorithm between pairs of anchor nodes to estimate its own position. The robot's self-localization algorithm is based on UWB measurements, yet it does not employ an UWB error model.…”

Section: A Related Workmentioning

confidence: 99%

Accommodation of NLOS for ultra-wideband TDOA localization in single- and multi-robot systems

Prorok

Tomé

Martinoli

2011

2011 International Conference on Indoor Positioning and Indoor Navigation

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Abstract-Ultra-wideband (UWB) localization is one of the most promising indoor localization methods. Yet, non-line-ofsight (NLOS) positioning scenarios can potentially cause significant localization errors and remain a challenge. In this work, we propose a novel, probabilistic UWB TDOA error model which explicitly takes into account NLOS. In order to validate our approach systematically in a real world setup, we leverage the utility of a group of mobile robots, and introduce our error model into a real-time localization framework run onboard the robots. We subsequently extend our framework by employing a collaborative localization strategy which enables the sharing of inter-robot, relative position observations. Our experimental results show how the novel TDOA error model is able to improve localization performance when information on the LOS/NLOS path condition is available. These results are complemented by additional experiments which show how a collaborative team of robots is able to significantly improve localization performance when no information on the LOS/NLOS path condition is available.

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Experimental demonstration of self-localized Ultra Wideband indoor mobile robot navigation system

Cited by 31 publications

References 20 publications

Recent Advances in Indoor Localization: A Survey on Theoretical Approaches and Applications

Recent Advances in Indoor Localization: A Survey on Theoretical Approaches and Applications

Online model estimation of ultra-wideband TDOA measurements for mobile robot localization

Accommodation of NLOS for ultra-wideband TDOA localization in single- and multi-robot systems

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