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

fYear

2007

fDate

24-26 Sept. 2007

Firstpage

77

Lastpage

82

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICUWB.2007.4380919

Filename

4380919