Local Positioning System Using UWB Range Measurements for an Unmanned Blimp

Mai, Vincent; Kamel, Mina; Krebs, Matthias Christian; Schaffner, Andreas; Meier, Daniel M.; Paull, Liam; Siegwart, Roland

doi:10.1109/lra.2018.2849553

Cited by 26 publications

(14 citation statements)

References 12 publications

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“…UWB modules estimate the position of a UWB tag within the space spanned by three or more UWB beacons through triangulation. There have been robotics applications combining onboard UWB tag with inertial measurement units (IMU) or gyroscope sensors, to be localized in environments with pre-deployed UWB beacons ( Mueller et al, 2015 ; Mai et al, 2018 ; Cao et al, 2020 ). Nevertheless, to our knowledge the uses of UWB modules and DRL methods have not been reported in the literature for navigation aids to BVI users.…”

Section: Related Workmentioning

confidence: 99%

Assistive Navigation Using Deep Reinforcement Learning Guiding Robot With UWB/Voice Beacons and Semantic Feedbacks for Blind and Visually Impaired People

Liu

Huang

et al. 2021

Front. Robot. AI

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Facilitating navigation in pedestrian environments is critical for enabling people who are blind and visually impaired (BVI) to achieve independent mobility. A deep reinforcement learning (DRL)–based assistive guiding robot with ultrawide-bandwidth (UWB) beacons that can navigate through routes with designated waypoints was designed in this study. Typically, a simultaneous localization and mapping (SLAM) framework is used to estimate the robot pose and navigational goal; however, SLAM frameworks are vulnerable in certain dynamic environments. The proposed navigation method is a learning approach based on state-of-the-art DRL and can effectively avoid obstacles. When used with UWB beacons, the proposed strategy is suitable for environments with dynamic pedestrians. We also designed a handle device with an audio interface that enables BVI users to interact with the guiding robot through intuitive feedback. The UWB beacons were installed with an audio interface to obtain environmental information. The on-handle and on-beacon verbal feedback provides points of interests and turn-by-turn information to BVI users. BVI users were recruited in this study to conduct navigation tasks in different scenarios. A route was designed in a simulated ward to represent daily activities. In real-world situations, SLAM-based state estimation might be affected by dynamic obstacles, and the visual-based trail may suffer from occlusions from pedestrians or other obstacles. The proposed system successfully navigated through environments with dynamic pedestrians, in which systems based on existing SLAM algorithms have failed.

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Section: Related Workmentioning

confidence: 99%

Assistive Navigation Using Deep Reinforcement Learning Guiding Robot With UWB/Voice Beacons and Semantic Feedbacks for Blind and Visually Impaired People

Liu

Huang

et al. 2021

Front. Robot. AI

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“…The most sophisticated UAVs make use of LIDARs and special cameras that measure both odometry and speed. Ultra-Wide Band (UWB) transceivers are only used in one of the UAV systems listed in Table 2 [92], although they have been previously analyzed in the literature when performing accurate (centimeter-precision) distance measurements [100].…”

Section: Positioning Subsystemmentioning

confidence: 99%

A Review on IoT Deep Learning UAV Systems for Autonomous Obstacle Detection and Collision Avoidance

et al. 2019

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Advances in Unmanned Aerial Vehicles (UAVs), also known as drones, offer unprecedented opportunities to boost a wide array of large-scale Internet of Things (IoT) applications. Nevertheless, UAV platforms still face important limitations mainly related to autonomy and weight that impact their remote sensing capabilities when capturing and processing the data required for developing autonomous and robust real-time obstacle detection and avoidance systems. In this regard, Deep Learning (DL) techniques have arisen as a promising alternative for improving real-time obstacle detection and collision avoidance for highly autonomous UAVs. This article reviews the most recent developments on DL Unmanned Aerial Systems (UASs) and provides a detailed explanation on the main DL techniques. Moreover, the latest DL-UAV communication architectures are studied and their most common hardware is analyzed. Furthermore, this article enumerates the most relevant open challenges for current DL-UAV solutions, thus allowing future researchers to define a roadmap for devising the new generation affordable autonomous DL-UAV IoT solutions.

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“…Quadcopter coordinates were calculated by the Pythagorean and extended Kalman filter equations. The maximum error for x, y coordinates were 0.2 m. Mai et al developed an indoor local positioning estimator for unmanned blimp [2]. This system used UWB and gyroscope because GPS and magnetometer cannot work for indoor positioning.…”

Section: Introductionmentioning

confidence: 99%

Local positioning system for autonomous vertical take-off and landing using ultra-wide band measurement ranging system

Tamami

Sumantri

Kristalina

2021

J. Mechatron. Electr. Power Veh. Technol.

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An autonomous vertical take-off and landing (VTOL) must be supported with an accurate positioning system, especially for autonomous take-off, landing, and other tasks in small area. This paper presents a novel method of small local outdoor positioning system for localizing the area of dropping and landing of autonomous VTOL by utilizing the low-cost precision ultra-wide band (UWB) ranging system. We compared symmetrical single sided-two way ranging (SSS-TWR), symmetrical double sided-two way ranging (SDS-TWR), and asymmetrical double sided-two way ranging (ADS-TWR) methods to get precision ranging measurement on UWB radio module. ADS-TWR was superior to others by resulting in minimum distance error. The ADS-TWR average error was 1.38 % (35.88 cm), SDS-TWR average error was 1.83 % (47.58 cm), and SSS-TWR average error was 2.73 % (70.98 cm). Furthermore, the trilateration method was utilized to obtain the local position of the autonomous VTOL. The trilateration method successfully implemented autonomous VTOL quadcopter positioning in a small local outdoor area (20 m x 30 m). Autonomous VTOL has been able to drop seven payloads in seven areas (2 m x 2 m) and landed in the home position (3 m x 3 m) successfully.

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Local Positioning System Using UWB Range Measurements for an Unmanned Blimp

Cited by 26 publications

References 12 publications

Assistive Navigation Using Deep Reinforcement Learning Guiding Robot With UWB/Voice Beacons and Semantic Feedbacks for Blind and Visually Impaired People

Assistive Navigation Using Deep Reinforcement Learning Guiding Robot With UWB/Voice Beacons and Semantic Feedbacks for Blind and Visually Impaired People

A Review on IoT Deep Learning UAV Systems for Autonomous Obstacle Detection and Collision Avoidance

Local positioning system for autonomous vertical take-off and landing using ultra-wide band measurement ranging system

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