UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)(2021)
摘要
The problem addressed in this paper is the localisation of a mobile robot using a combination of on-board sensors and Ultra-Wideband (UWB) beacons. Specifically, we consider a scenario in which a mobile robot travels across an area infrastructured with a small number of UWB anchors. The presence of obstacles in the environment introduces an offset in the measurements of the distance between the robot and the UWB anchors causing a degradation in the localisation performance. By using a discrete-time formulation of the system dynamics, we show that, under mild condition, the trajectories can be observed and the offset can be estimated in a finite number of steps. Besides being interesting in its on right, the global observability results offer a clear pathway towards the definition of a new generation of estimation algorithms.
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关键词
finite number,global observability results,UWB indoor global localisation,nonholonomic robots,unknown offset compensation,on-board sensors,mobile robot travels,UWB anchors,localisation performance,discrete-time formulation,ultra-wideband beacons
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