scholarly journals On-line Optimal Ranging Sensor Deployment for Robotic Exploration

2021 ◽  
Author(s):  
Luca Santoro ◽  
Davide Brunelli ◽  
daniele fontanelli
Keyword(s):  
Genetic Algorithm ◽  
Mobile Robots ◽  
Mobile Agents ◽  
Ultra Wideband ◽  
Sensor Deployment ◽  
Positioning System ◽  
Mobile System ◽  
Robotic Exploration ◽  
On Line ◽  
Geometric Dilution Of Precision

<div>Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic placement and runtime extension of UWB anchors infrastructure while the robot explores the new environment. We provide a detailed analysis of the uncertainty of the positioning system while the UWB infrastructure grows. Moreover, we developed a genetic algorithm that minimizes the deployment of new anchors, saving energy and resources on the mobile robot and maximizing the time of the mission. Although the presented approach is general for any class of mobile system, we run simulations and experiments with indoor drones. Results demonstrate that maximum positioning uncertainty is always controlled under the user's threshold, using the Geometric Dilution of Precision (GDoP).</div>

scholarly journals On-line Optimal Ranging Sensor Deployment for Robotic Exploration

2021 ◽  
Author(s):  
Luca Santoro ◽  
Davide Brunelli ◽  
daniele fontanelli
Keyword(s):  
Genetic Algorithm ◽  
Mobile Robots ◽  
Mobile Agents ◽  
Ultra Wideband ◽  
Sensor Deployment ◽  
Positioning System ◽  
Mobile System ◽  
Robotic Exploration ◽  
On Line ◽  
Geometric Dilution Of Precision

<div>Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic placement and runtime extension of UWB anchors infrastructure while the robot explores the new environment. We provide a detailed analysis of the uncertainty of the positioning system while the UWB infrastructure grows. Moreover, we developed a genetic algorithm that minimizes the deployment of new anchors, saving energy and resources on the mobile robot and maximizing the time of the mission. Although the presented approach is general for any class of mobile system, we run simulations and experiments with indoor drones. Results demonstrate that maximum positioning uncertainty is always controlled under the user's threshold, using the Geometric Dilution of Precision (GDoP).</div>

scholarly journals An Extensible Positioning System for Locating Mobile Robots in Unfamiliar Environments

Sensors ◽  
2019 ◽  
Vol 19 (18) ◽  
pp. 4025 ◽  
Author(s):  
Xiaosu Xu ◽  
Xinghua Liu ◽  
Beichen Zhao ◽  
Bo Yang
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Clock Synchronization ◽  
Original System ◽  
Ultra Wideband ◽  
Recursive Least Squares ◽  
Measurement Unit ◽  
Positioning System ◽  
Localization And Mapping ◽  
Initial Attitude

In this paper, an extensible positioning system for mobile robots is proposed. The system includes a stereo camera module, inertial measurement unit (IMU) and an ultra-wideband (UWB) network which includes five anchors, one of which is with the unknown position. The anchors in the positioning system are without requirements of communication between UWB anchors and without requirements of clock synchronization of the anchors. By locating the mobile robot using the original system, and then estimating the position of a new anchor using the ranging between the mobile robot and the new anchor, the system can be extended after adding the new anchor into the original system. In an unfamiliar environment (such as fire and other rescue sites), it is able to locate the mobile robot after extending itself. To add the new anchor into the positioning system, a recursive least squares (RLS) approach is used to estimate the position of the new anchor. A maximum correntropy Kalman filter (MCKF) which is based on the maximum correntropy criterion (MCC) is used to fuse data from the UWB network and IMU. The initial attitude of the mobile robot relative to the navigation frame is calculated though comparing position vectors given by a visual simultaneous localization and mapping (SLAM) system and the UWB system respectively. As shown in the experiment section, the root mean square error (RMSE) of the positioning result given by the proposed positioning system with all anchors is 0.130 m. In the unfamiliar environment, the RMSE is 0.131 m which is close to the RMSE (0.137 m) given by the original system with a difference of 0.006 m. Besides, the RMSE based on Euler distance of the new anchor is 0.061 m.

scholarly journals On-line Optimal Ranging Sensor Deployment for Robotic Exploration

2021 ◽  
pp. 1-1
Author(s):  
Luca Santoro ◽  
Davide Brunelli ◽  
Daniele Fontanelli
Keyword(s):  
Sensor Deployment ◽  
Robotic Exploration ◽  
On Line

scholarly journals An Optimal Footprint Based Coverage Planning for Hydro Blasting Robots

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1194
Author(s):  
Thejus Pathmakumar ◽  
Madan Mohan Rayguru ◽  
Sriharsha Ghanta ◽  
Manivannan Kalimuthu ◽  
Mohan Rajesh Elara
Keyword(s):  
Genetic Algorithm ◽  
Mobile Robots ◽  
Numerical Simulations ◽  
Labour Force ◽  
Successful Implementation ◽  
Multi Objective Optimization ◽  
Metallic Surfaces ◽  
Industrial Sites ◽  
Experimental Trials ◽  
Time And Energy

The hydro blasting of metallic surfaces is an essential maintenance task in various industrial sites. Its requirement of a considerable labour force and time, calls for automating the hydro blasting jobs through mobile robots. A hydro blasting robot should be able to cover the required area for a successful implementation. If a conventional robot footprint is chosen, the blasting may become inefficient, even though the concerned area is completely covered. In this work, the blasting arm’s sweeping angle is chosen as the robot’s footprint for hydro blasting task, and a multi-objective optimization-based framework is proposed to compute the optimal sweeping arc. The genetic algorithm (GA) methodology is exploited to compute the optimal footprint, which minimizes the blasting time and energy simultaneously. Multiple numerical simulations are performed to show the effectiveness of the proposed approach. Moreover, the strategy is successfully implemented on our hydro blasting robot named Hornbill, and the efficacy of the proposed approach is validated through experimental trials.

UWB Positioning Systsem Design: Selection of Modulation and Multiple Access Schemes

2007 ◽  
Vol 61 (1) ◽  
pp. 45-62 ◽  
Author(s):  
Hui Yu ◽  
Enrique Aguado ◽  
Gary Brodin ◽  
John Cooper ◽  
David Walsh ◽  
...  
Keyword(s):  
Multiple Access ◽  
High Performance ◽  
Ultra Wideband ◽  
Good Time ◽  
Modulation Scheme ◽  
Positioning System ◽  
Indoor Environments ◽  
Signal Design ◽  
Positioning Systems ◽  
Design Selection

In densely-populated cities or indoor environments, limited visibility to satellites and severe multipath effects significantly affect the accuracy and reliability of satellite-based positioning systems. To meet the needs of “seamless navigation” in these challenging environments an advanced terrestrial positioning system is under development. This system is based upon Ultra-Wideband (UWB) technology, which is a promising candidate for this application due to good time domain resolution and immunity to multipath. This paper presents a detailed analysis of two key aspects of the UWB signal design that will allow it to be used as the basis of such a high performance positioning system: the modulation scheme and the multiple access technique. These two aspects are evaluated in terms of spectral efficiency and synchronisation performance over multipath channels. Thus this paper identifies optimal modulation and multiple access techniques for a long range, high performance terrestrial positioning system using UWB.

Ultra-Wideband-Based Localization for Quadcopter Navigation

2016 ◽  
Vol 04 (01) ◽  
pp. 23-34 ◽  
Author(s):  
Kexin Guo ◽  
Zhirong Qiu ◽  
Cunxiao Miao ◽  
Abdul Hanif Zaini ◽  
Chun-Lin Chen ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Global Positioning System ◽  
Ultra Wideband ◽  
Line Of Sight ◽  
Positioning System ◽  
Localization Algorithm ◽  
Control Loop ◽  
Flight Tests ◽  
Localization System ◽  
Global Positioning

Micro unmanned aerial vehicles (UAVs) are promising to play more and more important roles in both civilian and military activities. Currently, the navigation of UAVs is critically dependent on the localization service provided by the Global Positioning System (GPS), which suffers from the multipath effect and blockage of line-of-sight, and fails to work in an indoor, forest or urban environment. In this paper, we establish a localization system for quadcopters based on ultra-wideband (UWB) range measurements. To achieve the localization, a UWB module is installed on the quadcopter to actively send ranging requests to some fixed UWB modules at known positions (anchors). Once a distance is obtained, it is calibrated first and then goes through outlier detection before being fed to a localization algorithm. The localization algorithm is initialized by trilateration and sustained by the extended Kalman filter (EKF). The position and velocity estimates produced by the algorithm will be further fed to the control loop to aid the navigation of the quadcopter. Various flight tests in different environments have been conducted to validate the performance of UWB ranging and localization algorithm.

Sign in / Sign up

Export Citation Format

Share Document