Design of a localization system for multi-robot manipulator coordination

• Main Author: Goh, Glendon Zhi Yi
• Other Authors: Hu, Guoqiang
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2020
• Subjects: Engineering::Electrical and electronic engineering::Antennas, wave guides, microwaves, radar, radio
• Online Access: https://hdl.handle.net/10356/140451
• Institution: Nanyang Technological University

As robots have no eyes nor ears, there arises a need for robots to locate themselves within the world in another way, this is where localization comes in. Localization can be achieved efficiently using radar technology, which has been heavily regulated such that it will not interfere with other forms of radar technology. Therefore, it is very useful to utilize radar technology to accomplish localization such that it could be implemented in commercial or personal workspaces without compromises. The primary objective of this project is to use a localization system to find the positions and placements of multiple robot manipulators within the workspace. In this project, the two focuses will be creation of a simulation of multiple manipulators and using Ultra-Wideband technology for localization of multiple Ultra-Wideband tags attached to each manipulator to position each joint of the manipulators within the workspace.