We consider a mobile robot localising itself through a set of UWB wireless anchors. We show how the use of an appropriate localisation algorithm allows for an analytical estimate of the localisation uncertainty. This information is used to build a potential-based motion planning algorithm that drives the robot along trajectories, while achieving a good tradeoff between moving toward the goal and keeping localisation uncertainty reasonably low.

Ruling uncertainties in Range-only Robot Localisation / Shamsfakhr, Farhad; Palopoli, Luigi; Macii, David; Fontanelli, Daniele. - ELETTRONICO. - 2021-:(2021), pp. 1-6. ((Intervento presentato al convegno I2MTC 2021 tenutosi a online (Glasgow) nel 17th-20th May 2021 [10.1109/I2MTC50364.2021.9459813].

Ruling uncertainties in Range-only Robot Localisation

Shamsfakhr, Farhad;Palopoli, Luigi;Macii, David;Fontanelli, Daniele
2021-01-01

Abstract

We consider a mobile robot localising itself through a set of UWB wireless anchors. We show how the use of an appropriate localisation algorithm allows for an analytical estimate of the localisation uncertainty. This information is used to build a potential-based motion planning algorithm that drives the robot along trajectories, while achieving a good tradeoff between moving toward the goal and keeping localisation uncertainty reasonably low.
2021 IEEE International Instrumentation and Measurement Technology Conference Proceedings
Piscataway, NJ
Institute of Electrical and Electronics Engineers Inc.
978-1-7281-9539-1
Shamsfakhr, Farhad; Palopoli, Luigi; Macii, David; Fontanelli, Daniele
Ruling uncertainties in Range-only Robot Localisation / Shamsfakhr, Farhad; Palopoli, Luigi; Macii, David; Fontanelli, Daniele. - ELETTRONICO. - 2021-:(2021), pp. 1-6. ((Intervento presentato al convegno I2MTC 2021 tenutosi a online (Glasgow) nel 17th-20th May 2021 [10.1109/I2MTC50364.2021.9459813].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/328816
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