Ultra-wideband time of flight based localization system and odometry fusion for a scanning 3 DoF magnetic field autonomous robot

• Type: Chapter or Part of a Book
• Date: 2018

Authors

José Lima (Author) Other; Paulo Gomes da Costa (Author) FEUP

Book

Title: Advances in Intelligent Systems and Computing

Pages: 879-890

ISBN: 978-3-319-70832-4

Electronic ISBN: 978-3-319-70833-1

Indexing

Scopus - 4 Citations

Other information

Authenticus ID: P-00N-82K

DOI: 10.1007/978-3-319-70833-1_71

Abstract (EN): Solving the robot localization problem is one of the most necessary requirements for autonomous robots. Several methodologies can be used to determine its location as accurately as possible. What makes this difficult is the existence of uncertainty in the sensing of the robot. The uncertain information needs to be combined in an optimal way. This paper stresses a Kalman filter to combine information from the odometry and Ultra Wide Band Time of Flight distance modules, which lacks the orientation. The proposed system validated in a real developed platform performs the fusion task which outputs position and orientation of the robot. It is used to localize the robot and make a 3 DoF scanning of magnetic field in a room. Other examples can be pointed out with the same localization techniques in service and industrial autonomous robots. © Springer International Publishing AG 2018.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12