Title :
A UWB based Localization System for Indoor Robot Navigation
Author :
Krishnan, Sivanand ; Sharma, Pankaj ; Guoping, Zhang ; Woon, Ong Hwee
Author_Institution :
Inst. for Infocomm Res., Singapore
Abstract :
For robots to become more popular for domestic applications, the short comings of current indoor navigation technologies have to be overcome. In this paper, we propose the use of UWB-IR for indoor robot navigation. Various parts of an actual implementation of a UWB-IR based robot navigation system such as system architecture, RF sub-system design, antennas and localization algorithms are discussed. It is shown that by properly addressing the various issues, a localization error of less than 25 cm can be achieved at all points within a realistic indoor localization space.
Keywords :
home computing; indoor radio; mobile robots; navigation; path planning; ultra wideband communication; RF subsystem design; UWB based localization; UWB-infrared based robot navigation; antenna; indoor robot navigation; Antenna accessories; Communication system control; Estimation error; Navigation; Orbital robotics; Radio frequency; Robots; Servomechanisms; Servomotors; Tracking; UWB localization; robot navigation;
Conference_Titel :
Ultra-Wideband, 2007. ICUWB 2007. IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0521-3
Electronic_ISBN :
978-1-4244-0521-3
DOI :
10.1109/ICUWB.2007.4380919
