Ruling uncertainties in Range-only Robot Localisation

被引：0

作者：

Shamsfakhr, Farhad ^{[1
]}

Palopoli, Luigi ^{[2
]}

Macii, David ^{[1
]}

Fontanelli, Daniele ^{[1
]}

机构：

[1] Univ Trento, Dept Ind Engn, Trento, Italy

[2] Univ Trento, Dept Engn & Comp Sci, Trento, Italy

来源：

2021 IEEE INTERNATIONAL INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE (I2MTC 2021) | 2021年

关键词：

Range-only Measurements; Localisation; Uncertainty Analysis; Uncertainty Control;

D O I：

10.1109/I2MTC50364.2021.9459813

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

We consider a mobile robot localising itself through a set of UWB wireless anchors. We show how the use of an appropriate localisation algorithm allows for an analytical estimate of the localisation uncertainty. This information is used to build a potential-based motion planning algorithm that drives the robot along trajectories, while achieving a good tradeoff between moving toward the goal and keeping localisation uncertainty reasonably low.

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页数：6

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