期刊
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)
卷 -, 期 -, 页码 5795-5801出版社
IEEE
DOI: 10.1109/ICRA48506.2021.9562031
关键词
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This paper addresses the localisation of a mobile robot using on-board sensors and UWB beacons, discussing how obstacles in the environment can degrade the performance and proposing a method to estimate the offset in a finite number of steps. The global observability results not only offer a clear pathway towards defining a new generation of estimation algorithms but also show the potential for further research in this area.
The problem addressed in this paper is the localisation of a mobile robot using a combination of on-board sensors and Ultra-Wideband (UWB) beacons. Specifically, we consider a scenario in which a mobile robot travels across an area infrastructured with a small number of UWB anchors. The presence of obstacles in the environment introduces an offset in the measurements of the distance between the robot and the UWB anchors causing a degradation in the localisation performance. By using a discrete-time formulation of the system dynamics, we show that, under mild condition, the trajectories can be observed and the offset can be estimated in a finite number of steps. Besides being interesting in its on right, the global observability results offer a clear pathway towards the definition of a new generation of estimation algorithms.
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