2018/04/25 by Saman Fahandezh-Saadi, Fahandezh-Saadi, Saman, Mark W. Mueller +1
Computer Science · Engineering · Mathematics · #Algorithm #Artificial intelligence #Computer science #Engineering #Estimator #FOS: Computer and information sciences #Indoor and Outdoor Localization Technologies #Mathematics #Mobile robot #Range (aeronautics) #Ranging #Real-time computing #Robot #Robotics (cs.RO) #Robotics and Sensor-Based Localization #Target Tracking and Data Fusion in Sensor Networks #Telecommunications #Wireless sensor network #cs.RO
paper · pdf · doi:10.48550/arxiv.1804.09833
published in arXiv (Cornell University) (Cornell University)
arxiv created 2018/04/25 · openalex publication_date 2018/04/25 · arxiv updated 2018/04/27 · openalex created_date 2022/10/02 · openalex updated_date 2026/07/28
This paper presents a method to improve the localization accuracy of robots\noperating in a range-based localization network. The method is favorable\nespecially when the robots operate in harsh environments where the access to a\nrobust and reliable localization system is limited. A state estimator is used\nfor a six degree of freedom object using inertial sensors as well as an\nUltra-wideband (UWB) range measurement sensor. The estimator is incorporated\ninto an adaptive algorithm, improving the localization quality of an agent by\nusing a mobile UWB ranging sensor, where the mobile anchor moves to improve\nlocalization quality. The algorithm reconstructs localization network in\nreal-time to minimize the determinant of the covariance matrix in the sense of\nleast square error. Finally, the proposed algorithm is experimentally validated\nin a network consisting of one mobile and four fixed anchors.\n