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Accurate UWB and IMU based indoor localization for autonomous robots | IEEE Conference Publication | IEEE Xplore

Accurate UWB and IMU based indoor localization for autonomous robots

Publisher: IEEE

Abstract:

Real-time monitoring and tracking of mobile robots in an indoor environment is very important for numerous applications. In this paper a method to accurately locate mobil...View more

Abstract:

Real-time monitoring and tracking of mobile robots in an indoor environment is very important for numerous applications. In this paper a method to accurately locate mobile robots with sensor fusion is proposed. The acceleration from an inertial measurement unit (IMU) and the 2-D coordinates received from the Ultra-Wideband(UWB) anchors are fused together in a Kalman filter to achieve an accurate location estimation. The proposed method increases robustness, scalability, and accuracy of location. The measurement results, which was obtained using the proposed fusion, show considerable improvements in accuracy of the location estimation which can be used in different Indoor Positioning System (IPS) applications requiring precision.
Date of Conference: 30 April 2017 - 03 May 2017
Date Added to IEEE Xplore: 15 June 2017
ISBN Information:
Publisher: IEEE
Conference Location: Windsor, ON, Canada

References

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