Ultra wide-band localization and SLAM: a comparative study for mobile robot navigation.
In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work.
Instituto de Automatica, National University of San Juan, Av. Libertador Gral. San Martin 1109 Oeste, J5400ARL San Juan, Argentina.
Marcelo J
MJ
Segura
Fernando A
FA
Auat Cheein
Juan M
JM
Toibero
Vicente
V
Mut
Ricardo
R
Carelli
D000465:Algorithms; D004777:Environment; D012371:Robotics / Q000379:methods*; D013686:Telemetry / Q000379:methods*; D013997:Time Factors; D059015:Wireless Technology