Relative localization estimation for multiple robots via the rotating ultra-wideband tag
Most distributed algorithms for robot coordination require relative location information, but how to obtain relative locations in a distributed manner is still a primary problem to address in multi-robot applications. In order to obtain the relative locations between robots, no matter whether they a...
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| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/169918 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Most distributed algorithms for robot coordination require relative location information, but how to obtain relative locations in a distributed manner is still a primary problem to address in multi-robot applications. In order to obtain the relative locations between robots, no matter whether they are in relative motion or stationary situation, we design a rotating ultra-wideband tag to provide the persistency of excitation condition and two estimation algorithms to estimate the relative locations in a distributed manner. Moreover, our approach relies only on on-board sensors and requires only one ultra-wideband tag per robot, eliminating the need for any ground anchors, thus allowing deployment in GNSS-denied environments without range restrictions. The proposed approach in this letter is also tested in simulations and experiments to verify the theoretical findings and effectiveness in practice. |
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