Navigation of the mobile robots using the RTLS technology implemented in the ROS

被引：0
作者：
Slovak, Juraj [1 ]
Kurcova, Petra [1 ]
Vachalek, Jan [1 ]
Fitka, Ivan [1 ]
机构：
[1] Slovak Univ Technol Bratislava, Fac Mech Engn, Bratislava, Slovakia
来源：
PROCEEDINGS OF THE 2020 30TH INTERNATIONAL CONFERENCE CYBERNETICS & INFORMATICS (K&I '20) | 2020年
关键词：
navigation; mobile robot; localization; ROS; RTLS; TurtleBot2; UWB;
D O I：
10.1109/ki48306.2020.9039877
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper deals with application possibilities of indoor RTLS (real-time location system) mobile robot navigation. The aim is to point out one of the possibilities of practical RTLS implementation in practice. The work describes the connection procedure between localization technology and the TurtleBot2 mobile robot in the ROS (Robot Operating system) environment. The first part of the work is focused on configuration of the selected RTLS technology, which works on the UWB (ultra-wideband) principle. The configuration as well as the subsequent location data acquisition are already implemented in ROS. The second part of the work deals with TurtleBot2 navigation based on the obtained location data. At the end of the paper are the results summarized obtained in the premises of a robotic laboratory.
引用
收藏
页数：5
相关论文
共 11 条
  • [1] [Anonymous], 2004, UWB THEORY APPL
  • [2] Gutierrez JoseA., 2003, LOW RATE WIRELESS PE
  • [3] Hajjaj S., 2018, INT J APPL ENG RES, V13, P5348
  • [4] Performance of UWB Wireless Telecommunication Positioning for Disaster Relief Communication Environment Securing
    Kim, Donghyun
    [J]. SUSTAINABILITY, 2018, 10 (11):
  • [5] Malik A., 2009, RTLS FOR DUMMIES
  • [6] Martinez AaronEnrique Fernandez., 2013, Learning ROS for robotics programming
  • [7] Oksa P., 2018, MAPPING LOCALIZATION, V5, P2458
  • [8] Slovák J, 2019, PROCEEDINGS OF THE 2019 22ND INTERNATIONAL CONFERENCE ON PROCESS CONTROL (PC19), P234, DOI [10.1109/pc.2019.8815220, 10.1109/PC.2019.8815220]
  • [9] The Yujinrobot, 2019, KOB US GUID US MAN
  • [10] Wikipedia contributors, 2019, UNCERTAINTY PRINCIPL
12