Learning probabilistic motion models for mobile robots
ICML '04 Proceedings of the twenty-first international conference on Machine learning
Localization system for mobile robot using wireless communication with IR landmark
Proceedings of the 1st international conference on Robot communication and coordination
UWB channel measurements for accurate indoor localization
MILCOM'06 Proceedings of the 2006 IEEE conference on Military communications
UWB wireless sensor networks: UWEN - a practical example
IEEE Communications Magazine
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IEEE Journal on Selected Areas in Communications
3D mapping with multi-resolution occupied voxel lists
Autonomous Robots
Navigation algorithm for WSN mobile node on MH particle filtering improvement
International Journal of Sensor Networks
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This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range measurements. UWB is a radio technology widely used for communications, that is recently receiving increasing attention for positioning applications. In these cases, the position of a mobile transceiver is determined from the distances to a set of fixed, well-localized beacons. Though this is a well-known problem in the scientific literature (the trilateration problem), the peculiarities of UWB range measurements (basically, distance errors and multipath effects) demand a different treatment to other similar solutions, as for example, those based on laser. This work presents a thorough experimental characterization of UWB ranges within a variety of environments and situations. From these experiments, we derive a probabilistic model which is then used by a particle filter to combine different readings from UWB beacons as well as the vehicle odometry. To account for the possible offset error due to multipath effects, the state tracked by the particle filter includes the offset of each beacon in addition to the planar robot pose (x,y,@f), both estimated sequentially. We show navigation results for a robot moving in indoor scenarios covered by three UWB beacons that validate our proposal.