Ultra wide-band localization and SLAM: a comparative study for mobile robot navigation

In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (T...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2011-02, Vol.11 (2), p.2035-2055
Main Authors: Segura, Marcelo J, Auat Cheein, Fernando A, Toibero, Juan M, Mut, Vicente, Carelli, Ricardo
Format: Article
Language:English
Subjects:
Accuracy
Algorithms
Environment
Error analysis
Localization
mobile robots
Radio frequency
Random variables
Robotics - methods
Robots
Sensors
SLAM
Telemetry - methods
Time Factors
ultra wide-band
Ultrasonic imaging
Wireless Technology
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Summary:In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work.
ISSN:1424-8220
1424-8220
DOI:10.3390/s110202035