Environmental imaging with a mobile UWB security robot for indoor localisation and positioning applications

In this paper environmental imaging of an unknown indoor area is performed by an autonomous mobile security robot called CoLORbot which operates with UWB-Radar. The CoLORbot is fully equipped with professional motion units, UWB-Radar devices, antennas and a laptop for data processing. Solitary objects are randomly distributed. The robot maintains a collision avoiding chaotic track and records UWB pulses throughout his inspection tour. Environmental imaging by means of UWB-Radar is performed with a migration algorithm as well as with the novel revised Range Point Migration method. These partial and fusioned maps of the environment allow an independent and self-localising capability of the CoLORbot and enable an autonomous navigation in an unknown environment.