Algorithm of Agent Localization in a Group Using Ultra-Wideband Communication Technology
Authors: 
Evgenii Stolov, Nikolay Krinitsyn, Vladimir Kurochkin, Maksim Murin, Ivan ShcherbakovAuthors Info & Claims
Pages 161 - 164
Abstract
Robot localization is a fundamental task in autonomous mobile robot designing, since actual position data is a necessary parameter for many robot algorithms. Mostly, for the data obtaining, Global Navigation Satellite Systems (GNSS) are used which error can reach 5m. This article presents a developed GNSS coordinate refining algorithm and its testing results. The algorithm operation is based on GNSS coordinates and distance data between multiple devices (here robots) received through Ultra-Wide Band (UWB) transceivers. The coordinates can be refined locally in the device coordinate system and in the global coordinate system, if high-precision of GNSS data are available for at least one device.
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Published In
February 2021
644 pages
ISBN:9781450389839
DOI:10.1145/3459104
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Published: 20 July 2021
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ISEEIE 2021
ISEEIE 2021: 2021 International Symposium on Electrical, Electronics and Information Engineering
February 19 - 21, 2021
Seoul, Republic of Korea
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