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Ultra-Wideband Communication and Sensor Fusion Platform for the Purpose of Multi-Perspective Localization
,
Henry Bulman,
Toby Whitley,
Shaoxiang Li
Sensors, Volume: 22, Issue: 18, Start page: 6880
Swansea University Author:
Chunxu Li
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DOI (Published version): 10.3390/s22186880
Abstract
Localization is a keystone for a robot to work within its environment and with other robots. There have been many methods used to solve this problem. This paper deals with the use of beacon-based localization to answer the research question: Can ultra-wideband technology be used to effectively local...
| Published in: | Sensors |
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| ISSN: | 1424-8220 |
| Published: |
MDPI AG
2022
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa65995 |
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| Abstract: |
Localization is a keystone for a robot to work within its environment and with other robots. There have been many methods used to solve this problem. This paper deals with the use of beacon-based localization to answer the research question: Can ultra-wideband technology be used to effectively localize a robot with sensor fusion? This paper has developed an innovative solution for creating a sensor fusion platform that uses ultra-wideband communication as a localization method to allow an environment to be perceived and inspected in three dimensions from multiple perspectives simultaneously. A series of contributions have been presented, supported by an in-depth literature review regarding topics in this field of knowledge. The proposed method was then designed, built, and tested successfully in two different environments exceeding its required tolerances. The result of the testing and the ideas formulated throughout the paper were discussed and future work outlined on how to build upon this work in potential academic papers and projects. |
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| Keywords: |
ultra-wideband; robot localization; sensor fusion; multi-perspective; communication |
| College: |
Faculty of Science and Engineering |
| Funders: |
This research received no external funding. |
| Issue: |
18 |
| Start Page: |
6880 |