Name
Abstract | ||
|---|---|---|
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and commercial applications. Ultra-wideband (UWB) technology provides another venue to accurately locate devices both indoors and outdoors. In this paper, we study a localization solution with a single UWB anchor, instead of the traditional multi-anchor setup. Besides the challenge of a single UWB ranging source, the only other sensor we require is a low-cost 9 DoF inertial measurement unit (IMU). Under such a configuration, we propose continuous monitoring of UWB range changes to estimate the robot speed when moving on a line. Combining speed estimation with orientation estimation from the IMU sensor, the system becomes temporally observable. We use an Extended Kalman Filter (EKF) to estimate the pose of a robot. With our solution, we can effectively correct the accumulated error and maintain accurate tracking of a moving robot. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/ICRA40945.2020.9197345 | ICRA |
DocType | Volume | Issue |
Conference | 2020 | 1 |
Citations | PageRank | References |
0 | 0.34 | 4 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yanjun Cao | 1 | 1 | 2.04 |
| Chenhao Yang | 2 | 5 | 3.12 |
| Rui Li | 3 | 7 | 3.92 |
| Alois Knoll Knoll | 4 | 1700 | 271.32 |
| Giovanni Beltrame | 5 | 290 | 37.17 |