UWB Tracking of Mobile Robots (original) (raw)
Related papers
Mobile Robot Localization based on Ultra-Wide-Band Ranging: A Particle Filter Approach
Robotics and Autonomous Systems, 2009
This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range measurements. UWB is a radio technology widely used for communications, that is recently receiving increasing attention for positioning applications. In these cases, the position of a mobile transceiver is determined from the distances to a set of fixed, well-localized beacons. Though this is a well-known problem in the scientific literature (the trilateration problem), the peculiarities of UWB range measurements (basically, distance errors and multipath effects) demand a different treatment to other similar solutions, as for example, those based on laser. This work presents a thorough experimental characterization of UWB ranges within a variety of environments and situations. From these experiments, we derive a probabilistic model which is then used by a particle filter to combine different readings from UWB beacons as well as the vehicle odometry. To account for the possible offset error due to multipath effects, the state tracked by the particle filter includes the offset of each beacon in addition to the planar robot pose (x,y,ϕ)(x,y,ϕ), both estimated sequentially. We show navigation results for a robot moving in indoor scenarios covered by three UWB beacons that validate our proposal.
An Ultra-Wideband RF Method for Localizing an Autonomous Mobile Robot
A technique for a new ad hoc, high-speed update and high precision location system that would establish a reliable navigation technology for autonomous unmanned vehicle systems was investigated. The system would employ a new ultra-wideband (UWB) ranging & communication (RAC) concept that incorporates time arrival information into the recent direct sequence (DS) code division multiple access (CDMA) technique. Time-of-arrivals (TOA) and time-difference-of-arrivals (TDOA) methods were then developed for position triangulation. The location system would have a self-configuring scheme so that the base stations of the location system can be installed and networked in a matter of minutes at desired positions. The geographical position of an object can be determined within centimeter-to-submeter accuracy over an area of several square kilometers at an update rate of hundred updates per second. The system can be used guidance control of unmanned vehicle systems including aerial, ground, and ...
Investigating ultra-wideband location positioning as a guidance system for mobile robotics
2011
The ability to track the real-time location and movement of robots offers a range of useful applications in areas such as safety, security and the supply chain. Real-time Ultra Wide Band Location determination is a technology that uses Ultra-wideband (UWB) and aims at delivering high positional accuracy in harsh industrial environments that previously caused problems for traditional location systems due to electromagnetic interference. Ultra Wide Band systems can calculate the location of tags which are designed to be mounted on assets or worn by a person. They transmit UWB signals that are received by sensors which contain an array of antenna and ultra-wideband radio receivers. The data from these sensors combined with dedicated software uses algorithms to work out the angle of arrival (AOA) of the UWB signal from the tag which is then compared to the time difference of arrival (TDOA). This information is determined between pairs of sensors connected by timing cables. The combination of AOA and TDOA measurement technologies delivers a precise three dimensional location system that is powerful, reliable, and robust for harsh industrial environments. This research examines the use of ultra wide band technology in tracking items such as mobile robots.
Experimental demonstration of self-localized Ultra Wideband indoor mobile robot navigation system
2010
A self-localized Ultra-Wide-Band (UWB) system that is suitable to navigate mobile robots in indoor environments is introduced. In impulse-based UWB systems, positional accuracy is inversely proportional to the signal bandwidth. In the work, a number of anchor nodes are located at fixed positions in an indoor environment transmitting synchronized 2ns pulses with Differential Binary Phase Shift Keying (DBPSK) modulation. An UWB receiver mounted on a mobile robot utilizes Time Difference of Arrival (TDOA) between pairs of synchronized transmitting anchor nodes for localization. Self-localization implies that position estimation algorithms run locally on the mobile robot. A prototype non-coherent UWB system using off-the-shelf components is implemented where signal acquisition runs on a Field Programmable Gate Array (FPGA). Measurement results indicate sub-20cm positional accuracy with Line Of Sight (LOS) and Non-Line of Sight (NLOS) conditions relative to fixed anchor nodes in a typical indoor environment.
Research on Developing an Outdoor Location System Based on the Ultra-Wideband Technology
Sensors
Ultra-wideband (UWB) technology is one of the most promising wireless communication technologies. Examples of UWB applications include, among others, radiocommunication devices and location systems, due to their operating range, ability to work in outdoor environments, and resistance to multipath effects. This article focuses on the use of UWB technology in constructing a guide localization system for an unmanned ground vehicle (UGV), which is one of the stages of implementing a “follow me” system. This article describes the complete process of UWB signal processing from its acquisition, methods of filtering, and obtained results, to determining the location of the guide. This article examines the possibility of using modified versions of localization algorithms for determining the guide’s location, including trilateration, methods of nonlinear programming, and a geometric algorithm proposed by us. The innovation of this study consists in the implementation of an algorithm that chan...
2017
Ultra Wide Band (UWB) is an emerging technology in the field of indoor localization, mainly due to its high performances in indoor scenarios and relatively easy deployment. However, in complex indoor environments, its positioning accuracy may drastically decrease due to biases introduced when emitters and receivers operate in Non Line-of-Sight (NLOS) conditions. This undesired phenomenon can be attenuated by creating, a priori, a map of the measurement error in the environment, that can be exploited at a later stage by a localization algorithm. In this paper, the error map is the result of a calibration process, which consists of collecting several measurements of the localization system at different locations in the environment. This work proposes the leveraging of mobile robots in order to automatize the calibration process with the ultimate purpose of improving UWB-based people localization in a realistic indoor environment. The whole process exploits existing algorithms in the f...
2007
Ultra-Wide Band (UWB) sensors are innovative devices constructed for efficient wireless communications that have recently being used for vehicle localization in indoor environments. In contrast, GPS sensors are wellknown satellite-based positioning devices widely extended for outdoor applications. We evaluate in this paper the combination of both technologies for efficient positioning of vehicles in a mixed scenario (both indoor and outdoor situations), which is typical in applications such as automatic guided vehicles transporting and storing goods among warehouses. The framework we propose for combining sensor information is Monte Carlo Localization (also known as Particle Filters), which is a versatile solution to the fusion of different sensory data and exhibits a number of advantages with respect to other localization techniques. In the paper we describe our approach and evaluate it with several simulated experiments that have yielded promising results. This work, supported by the European project CRAFT-COOP-CT-2005-017668, becomes a first step toward a robust and reliable localization system for automated industrial vehicles.
Ultra wideband indoor navigation system
IET Radar Sonar & Navigation, 2012
Typical indoor environments contain multiple walls and obstacles consisting of different materials. As a result, current narrowband radio frequency (RF) indoor navigation systems cannot satisfy the challenging demands for most indoor applications. The RF ultra wideband (UWB) system is a promising technology for indoor localisation owing to its high bandwidth that permits mitigation of the multipath identification problem. This work proposes a novel UWB navigation system that permits accurate mobile robot (MR) navigation in indoor environments. The navigation system is composed of two sub-systems: the localisation system and the MR control system. The main contributions of this work are focused on estimation algorithm for localisation, digital implementation of transmitter and receiver and integration of both sub-systems that enable autonomous robot navigation. For sub-systems performance evaluation, statics and dynamics experiments were carried out which demonstrated that the proposed system reached an accuracy that outperforms traditional sensors technologies used in robot navigation, such as odometer and sonar.
Precise Positioning of Autonomous Vehicles Combining UWB Ranging Estimations with On-Board Sensors
Electronics, 2020
In this paper, we analyze the performance of a positioning system based on the fusion of Ultra-Wideband (UWB) ranging estimates together with odometry and inertial data from the vehicle. For carrying out this data fusion, an Extended Kalman Filter (EKF) has been used. Furthermore, a post-processing algorithm has been designed to remove the Non Line-Of-Sight (NLOS) UWB ranging estimates to further improve the accuracy of the proposed solution. This solution has been tested using both a simulated environment and a real environment. This research work is in the scope of the PRoPART European Project. The different real tests have been performed on the AstaZero proving ground using a Radio Control car (RC car) developed by RISE (Research Institutes of Sweden) as testing platform. Thus, a real time positioning solution has been achieved complying with the accuracy requirements for the PRoPART use case.
Combination of UWB and GPS for indoor-outdoor vehicle localization
2007
GPS receivers are satellite-based devices widely used for vehicle localization that, given their limitations, are not suitable for performing within indoor or dense urban environments. On the other hand, Ultra-Wide Band (UWB), a technology used for efficient wireless communication, has recently being used for vehicle localization in indoor environments with promising results. This paper focuses on the combination of both technologies for accurate positioning of vehicles