Modeling and benchmarking ultra-wideband localization for mobile robots

Bahr, Alexander (Distributed Intelligent Systems and Alorithms Laboratory, EPFL, Lausanne, Switzerland) ; Martinoli, Alcherio (Distributed Intelligent Systems and Alorithms Laboratory, EPFL, Lausanne, Switzerland) ; Feldman, Alexander (School of Management and Engineering Vaud, HES-SO // University of Applied Sciences Western Switzerland) ; Robert, Stephan (School of Management and Engineering Vaud, HES-SO // University of Applied Sciences Western Switzerland) ; Colli-Vignarelli, James (Radio Frequency Integrated Circuit Group, EPFL, Lausanne, Switzerland) ; Dehollain, Catherine (Radio Frequency Integrated Circuit Group, EPFL, Lausanne, Switzerland)

Ultra-Wideband Impulse Radio (UWB-IR) is a technology that has great potential to solve numerous mobile robotic and asset tracking problems in GPS-denied environments. Our goal is to help software and hardware designers in improving the state-of-the-art in UWB-based robotic localization. We developed a test-bed where an UWB transmitter is attached to a mobile robot. By combining the received signals with the robot's position log acquired through the dead-reckoning sensors, we obtain UWB signals which are well referenced with respect to the transmitter-receiver distance and orientation. In addition, we provide a model for every component of the setup. The entire setup allows us to simulate from first principles every aspect of an UWB localization system and then to implement low-level signal processing as well as higher-level modulation and localization techniques. We implement an Automatic Gain Control (AGC) algorithm to demonstrate the rapid proto-typing capabilities of the test-bed. Our work shows how an UWB robotic system and its models can be involved in all phases of the development of a technology that can help robot's navigation, localization and communication algorithms.


Keywords:
Conference Type:
full paper
Faculty:
Ingénierie et Architecture
School:
HEIG-VD
Institute:
IICT - Institut des Technologies de l'Information et de la Communication
Publisher:
Syracuse, NY, USA, 17-20 September 2012
Date:
2012-09
Syracuse, NY, USA
17-20 September 2012
Pagination:
5 p.
Published in:
Proceedings of 2012 IEEE International Conference on Ultra-Wideband, 17-20 September 2012, Syracuse, NY, USA
DOI:
ISBN:
978-1-4577-2032-1
Appears in Collection:



 Record created 2020-03-31, last modified 2020-04-09

Fulltext:
Download fulltext
PDF

Rate this document:

Rate this document:
1
2
3
 
(Not yet reviewed)