A UWB based Localization System for Indoor Robot Navigation

Krishnan, S. P. T.; Sharma, Pankaj; Zhang, Guoping; Woon, Ong Hwee

doi:10.1109/icuwb.2007.4380919

Cited by 110 publications

(62 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In contrast, in the field of indoor positioning, although many techniques, such as WiFi [8], UWB [9], and ultrasound [10], have been proposed, there is no core technology like GPS for robot navigation. Of course, those techniques have their own strength; however, given the convenience of outdoor satellite-based positioning, positioning methods compatible with satellite-based ones are likely the best for indoor positioning because the same hardware can be used both outdoors and indoors.…”

Section: Introductionmentioning

confidence: 87%

GPS-compatible indoor-positioning methods for indoor-outdoor seamless robot navigation

Sakamoto

Ebinuma

Fujii

et al. 2012

2012 IEEE Workshop on Advanced Robotics and Its Social Impacts (ARSO)

View full text Add to dashboard Cite

The difficulty of applying "pseudolites" (i.e., pseudo-satellites) and the "indoor messaging system" (IMES) to indoor robot navigation is investigated. Moreover, as an alternative to these methods, "high-accuracy IMES using real-time kinematic Doppler positioning" is introduced and experimentally evaluated. The evaluation showed that this method can achieve centimeter-to decimeter-level positioning accuracy. This result implies the feasibility of indoor-outdoor seamless robot navigation with a GPS/ IMES receiver.

show abstract

Section: Introductionmentioning

confidence: 87%

GPS-compatible indoor-positioning methods for indoor-outdoor seamless robot navigation

Sakamoto

Ebinuma

Fujii

et al. 2012

2012 IEEE Workshop on Advanced Robotics and Its Social Impacts (ARSO)

View full text Add to dashboard Cite

show abstract

“…Higher accuracies can be obtained using techniques such as UWB. A pure UWB solution for indoor robot navigation is designed in [3]. The system tracks one robot in a 3 cells area.…”

Section: A Indoor Localization Systemsmentioning

confidence: 99%

WiFi ad-hoc mesh network and MAC protocol solution for UWB indoor localization systems

Ridolfi

Velde

Steendam

et al. 2016

2016 Symposium on Communications and Vehicular Technologies (SCVT)

View full text Add to dashboard Cite

Abstract-Ultra-wideband (UWB) is an emerging technology that is well known for its capability to provide centimeter positioning precision which is essential for applications that require very high accuracy. However, although several accuracy improving algorithms have been proposed in scientific literature, solutions to improve the scalability (in terms of coverage and dense user deployments) have not been explored yet or are still under examination. To this end, this paper presents a WiFi-UWB solution in which the UWB indoor localization system is deployed on top of a WiFi ad-hoc mesh network. The combination of a high-throughput WiFi mesh backbone in combination with a high-accuracy UWB radios allows deployment in areas without existing (wired) backbones. Moreover, the possibility for the clients to move around the covered area maintaining fully connectivity (roaming feature) is implemented. Finally, to improve scalability, a Time Division Multiple Access (TDMA) MAC protocol that combines WiFi and UWB technologies is proposed, thereby improving the scalability of the network towards multiple mobile users. As such, the solution combines the strengths of the WiFi technology (high throughput and efficient multi-hop meshing with roaming) with the main strengths of UWB (high accuracy localization). Overall the system supports 100 simultaneous clients while supporting multi-hop roaming with 150 ms delays.

show abstract

“…UWB localization is discussed in the context of indoor robot navigation in [6]. We extend this paper by providing a systematic UWB data-set where the signal is collected in realworld conditions and is sampled over multiple trajectories.…”

Section: Related Workmentioning

confidence: 99%

Modeling and benchmarking Ultra-Wideband localization for mobile robots

Bähr

Feldman

Colli-Vignarellii

et al. 2012

2012 IEEE International Conference on Ultra-Wideband

View full text Add to dashboard Cite

Abstract-Ultra-Wideband Impulse Radio (UWB-IR) is a technology that has great potential to solve numerous mobile robotic and asset tracking problems in GPS-denied environments. Our goal is to help software and hardware designers in improving the state-of-the-art in UWB-based robotic localization. We developed a test-bed where an UWB transmitter is attached to a mobile robot. By combining the received signals with the robot's position log acquired through the dead-reckoning sensors, we obtain UWB signals which are well referenced with respect to the transmitter-receiver distance and orientation. In addition, we provide a model for every component of the setup. The entire setup allows us to simulate from first principles every aspect of an UWB localization system and then to implement low-level signal processing as well as higher-level modulation and localization techniques. We implement an Automatic Gain Control (AGC) algorithm to demonstrate the rapid proto-typing capabilities of the test-bed. Our work shows how an UWB robotic system and its models can be involved in all phases of the development of a technology that can help robot's navigation, localization and communication algorithms.

show abstract

A UWB based Localization System for Indoor Robot Navigation

Cited by 110 publications

References 8 publications

GPS-compatible indoor-positioning methods for indoor-outdoor seamless robot navigation

GPS-compatible indoor-positioning methods for indoor-outdoor seamless robot navigation

WiFi ad-hoc mesh network and MAC protocol solution for UWB indoor localization systems

Modeling and benchmarking Ultra-Wideband localization for mobile robots

Contact Info

Product

Resources

About