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

doi:10.3390/s110202035

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 journal › Article › peer-review

30 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 language	English
Pages (from-to)	2035-2055
Number of pages	21
Journal	Sensors
Volume	11
Issue number	2
DOIs	https://doi.org/10.3390/s110202035
Publication status	Published - 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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Ultra Wide-Band localization and SLAM: A comparative study for mobile robot navigation

Abstract

Keywords

ASJC Scopus subject areas

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