INVESTIGADORES
TOIBERO Juan Marcos
artículos
Título:
Ultra Wide-band Localization and SLAM: a comparative study for mobile robot navigation
Autor/es:
SEGURA, M.; AUAT CHEEÍN F; TOIBERO JM; MUT, V.; CARELLI R
Revista:
SENSORS
Editorial:
MOLECULAR DIVERSITY PRESERVATION INTERNATIONAL-MDPI
Referencias:
Año: 2011 vol. 11 p. 2035 - 2055
ISSN:
1424-8220
Resumen:
In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented herein involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot whereas it navigates within an environment. Real time results as well as error analysis are also shown in this work.
