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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| Other Authors: | , |
| Format: | article |
| Language: | Spanish |
| Published: |
2018
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| Subjects: | |
| Online Access: | http://revistas.utp.ac.pa/index.php/memoutp/article/view/2016 http://ridda2.utp.ac.pa/handle/123456789/5737 |
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| _version_ | 1869652475031584768 |
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| author | Oumar, Ousmane Abdoulaye |
| author2 | Sattar, Tariq P. Tokhi, Mohammad Osman |
| author2_role | author author |
| author_browse | Oumar, Ousmane Abdoulaye Sattar, Tariq P. Tokhi, Mohammad Osman |
| author_facet | Oumar, Ousmane Abdoulaye Sattar, Tariq P. Tokhi, Mohammad Osman |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.contributor.none.fl_str_mv | |
| dc.creator.none.fl_str_mv | Oumar, Ousmane Abdoulaye Sattar, Tariq P. Tokhi, Mohammad Osman |
| dc.date.none.fl_str_mv | 2018-09-30 2018-12-04T14:32:10Z 2018-12-04T14:32:10Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/memoutp/article/view/2016 http://ridda2.utp.ac.pa/handle/123456789/5737 |
| dc.language.none.fl_str_mv | spa |
| dc.publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| dc.relation.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/memoutp/article/view/2016/2958 |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| dc.source.none.fl_str_mv | 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 reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.subject.none.fl_str_mv | mobile robots; wireless sensor |
| dc.title.none.fl_str_mv | Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| 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. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | lrtest_c9f77a1ede0f754d667e72cb13bdcbf3 |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | spa |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/5737 |
| publishDate | 2018 |
| publishDateSort | 2018 |
| publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| spelling | Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrivalOumar, Ousmane AbdoulayeSattar, Tariq P.Tokhi, Mohammad Osmanmobile robots; wireless sensorThis 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.Universidad Tecnológica de Panamá2018-09-302018-12-04T14:32:10Z2018-12-04T14:32:10Zinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/2016http://ridda2.utp.ac.pa/handle/123456789/5737Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 455-468reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáspahttp://revistas.utp.ac.pa/index.php/memoutp/article/view/2016/2958info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/4.0/oai:ridda2.utp.ac.pa:123456789/57372019-11-29T17:34:15Z |
| spellingShingle | Indoor localization of mobile robots with wireless sensor network based on ultra wideband using experimental measurements of time difference of arrival Oumar, Ousmane Abdoulaye mobile robots; wireless sensor |
| status_str | publishedVersion |
| title | 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_short | 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 |
| topic | mobile robots; wireless sensor |
| url | http://revistas.utp.ac.pa/index.php/memoutp/article/view/2016 http://ridda2.utp.ac.pa/handle/123456789/5737 |