Range-Only Based Cooperative Localization for Mobile Robots

Abstract

In this paper, we address the problem of localizing mobile robots based on range-only measurements from low cost Ultra-Wide-Band (UWB) sensors. The proposed solution considers every static or mobile object as beacons with contextual information. A beacon-to-beacon measurement is performed using UWB sensors and the position estimation is computed by the target beacon. This strategy allows to hide the cooperative localization problem behind these measurements. The fusion algorithm is based on a Split Intersection Covariance Filter which allows to correctly handle the correlation between the poses estimations of the beacons. We present the consistency of this solution using a simulation with 3 robots and 4 static beacons and a real experimentation with 1 robot and 3 static beacons.

On w-Optimization of the Split Covariance Intersection Filter

“…Note that P 1 , P 2 , D 1 , D 2 , and P 1 + P 2 are symmetric matrices satisfying P 1 + P 2 > P 1 = D 1 + P 1i ≥ D 1 ≥ 0 and P 1 + P 2 > P 2 = D 2 + P 2i ≥ D 2 ≥ 0; following Lemma. 5 we have (denote P 3 = P 1 + P 2 )…”

“…In [1], the term "filter" is added to form an analogy of the Split CIF to the well-known Kalman filter. Although the Split CIF is called "filter", it is not limited to temporal recursive estimation but can be used as a pure data fusion method besides the filtering sense, just as the Kalman filter can also be treated as a data fusion method -The split CIF can reasonably handle both known independent information and unknown correlated information in source data; it is a useful tool for general data fusion and has the potential to be applied in a variety of engineering tasks [3] [4] [5] [6] [7].…”

Data Fusion with Split Covariance Intersection for Cooperative Perception

“…This way, it is possible to take advantage of knowledge about partial independence. The SCIF has been applied to cooperative localization situation problems in [20] and [21].…”

Small-Range High-Precision Positioning Based on Two-Point Coordination for Robot

“…Moreover, time-based ranging technology was used in UWB positioning system, and several handshaking processes are needed to get the range between two nodes, which makes the positioning frequency low, and it cannot meet the requirements of some applications. Many research studies have been done on UWB-based localization [5][6][7][8] to enhance positioning stability. Some research studies employed filters to enhance the positioning accuracy [8], some research studies were focused on the ranging error elimination [5], and others attempted to fuse the data such as moving state and IMU data with the UWB positing data to eliminate the unstability [6,7], and the problem is not solved yet.…”

“…Many research studies have been done on UWB-based localization [5][6][7][8] to enhance positioning stability. Some research studies employed filters to enhance the positioning accuracy [8], some research studies were focused on the ranging error elimination [5], and others attempted to fuse the data such as moving state and IMU data with the UWB positing data to eliminate the unstability [6,7], and the problem is not solved yet. is paper proposed a two-point positioning data-fusing algorithm for the applications with more than one target nodes on an object [9].…”