Ultra Wide-Band Localization and SLAM A Comparative Study for Mobile Robot Navigation 英文参考文献.docVIP

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Ultra Wide-Band Localization and SLAM A Comparative Study for Mobile Robot Navigation 英文参考文献.doc

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Ultra Wide-Band Localization and SLAM A Comparative Study for Mobile Robot Navigation 英文参考文献

Sensors2011,11,2035-2055;doi:10.3390/s110202035 OPENACCESS sensors ISSN1424-8220 /journal/sensors Article UltraWide-BandLocalizationandSLAM:AComparative StudyforMobileRobotNavigation MarceloJ.Segura,FernandoA.AuatCheein ,JuanM.Toibero,VicenteMutand ? RicardoCarelli InstitutodeAutomatica,NationalUniversityofSanJuan,Av.LibertadorGral.SanMartin1109Oeste, J5400ARLSanJuan,Argentina ? Authortowhomcorrespondenceshouldbeaddressed;E-Mail:fauat@.ar; Tel.:+54-264-4213303;Fax:+54-264-4213672. Received:10December2010;inrevisedform:26January2011/Accepted:28January2011/ Published:10February2011 Abstract: 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 greataccuracyinrangemeasurementsbasedonTimeofArrival(TOA)estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation)ofamobilerobotwithinthatenvironment. Thecomparativestudypresented here involves the performance analysis of implementing in parallel an UWB localization basedsystemandaSLAMalgorithmonamobilerobotnavigatingwithinanenvironment. Realtimeresultsaswellaserroranalysisarealsoshowninthiswork. Keywords:ultrawide-band;SLAM;mobilerobots 1. Introduction Thisarticleaddressestheexperimentalcomparisonanalysisbetweenanultrawide-bandlocalization system(UWB)andaSLAM(SimultaneousLocalizationandMapping)algorithm. Indoorlocationsystemshavesomeproblemssuchastheabilitytolocateobjectsexactly. Thiscan becausedbyanumberoffactorsdependingonthesystembeingused. Eachsystemhasitsadvantages anditsdrawbacks. Somecanprovideahighdegreeofaccuracybutarenotsuitableformanufacturing Sensors2011,11 2036 businesses,astheydonotperformwellintheseconditionspartlyduetointerferencecausedbyother machinery. Costisanotherfactorassomelocalizationsystemscanbeveryexpensivetoimplement. Scalabilityisalsoa