UWB/LiDAR fusion for cooperative range-only SLAM

• Main Authors: Song, Yang, Guan, Mingyang, Tay, Wee Peng, Law, Choi Look, Wen, Changyun
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics; Cooperative Sensor Network; 2D LiDAR Sensor
• Online Access: https://hdl.handle.net/10356/141856
• Institution: Nanyang Technological University

We equip an ultra-wideband (UWB) node and a 2D LiDAR sensor a.k.a. 2D laser rangefinder on a mobile robot, and place UWB beacon nodes at unknown locations in an unknown environment. All UWB nodes can do ranging with each other thus forming a cooperative sensor network. We propose to fuse the peer-to...