Ultra Wide-Band localization and SLAM: A comparative study for mobile robot navigation

Marcelo J. Segura, Fernando A. Auat Cheein, Juan M. Toibero, Vicente Mut, Ricardo Carelli

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)2035-2055
Number of pages21
JournalSensors
Volume11
Issue number2
DOIs
Publication statusPublished - Feb 2011

Keywords

  • Mobile robots
  • SLAM
  • Ultra wide-band

ASJC Scopus subject areas

  • Analytical Chemistry
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering

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