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.| File | Dimensione | Formato | |
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SLAMwithRanging.pdf
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Ruling_uncertainties_in_Range-only_Robot_Localisation.pdf
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