Experimental demonstration of self-localized ultra wideband indoor mobile robot navigation system

2010 International Conference on Indoor Positioning and Indoor Navigation, IPIN 2010 - Conference Proceedings

Volumn , Issue , 2010, Pages

  Segura, Marcelo ^a   Hashemi, Hossein ^b   Sisterna, Cristian ^a   Mut, Vicente ^a  

^a UNIVERSIDAD NACIONAL DE SAN JUAN   (Argentina)

^b University of Southern California ^*  (United States)

Author keywords

Indoor localization; Mobile robot; Time difference of arrival; Ultra wideband

Indexed keywords

ANCHOR NODES; DIFFERENTIAL BINARY PHASE-SHIFT KEYING; INDOOR ENVIRONMENT; INDOOR LOCALIZATION; INDOOR MOBILE ROBOTS; LINE OF SIGHT; MEASUREMENT RESULTS; NON-COHERENT; NONLINE OF SIGHT; OFF-THE-SHELF COMPONENTS; POSITION ESTIMATION; POSITIONAL ACCURACY; SELF-LOCALIZATION; SIGNAL ACQUISITIONS; SIGNAL BANDWIDTH; TIME DIFFERENCE OF ARRIVAL; UWB RECEIVERS; UWB SYSTEM;

BROADBAND NETWORKS; COMMUNICATION CHANNELS (INFORMATION THEORY); FIELD PROGRAMMABLE GATE ARRAYS (FPGA); MOBILE ROBOTS; NAVIGATION; NAVIGATION SYSTEMS; SIGNAL PROCESSING; SIGNAL RECEIVERS; WIRELESS SENSOR NETWORKS;

ULTRA-WIDEBAND (UWB);

EID: 78650749676     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IPIN.2010.5647457     Document Type: Conference Paper

References (30)

1. D. Clarke, A. Park, "Active-RFID system accuracy and its implications for clinical applications, IEEE Symposium Computer- Based Medical. Systems, Salt Lake City, USA, pp. 21-26, 2006, .
2. Zebra Enterprise Solutions, Oakland, CA.
3. Ubisense, Cambridge, CB4 1DL. UK, .
4. Krishnan S., Sharma P., Zhang Guoping, Ong Hwee Woon, "A UWB based Localization System for Indoor Robot Navigation Ultra-Wideband", IEEE International Conference on Ultra- Wideband, pp. 77-82, Sept. 2007.
5. Schroeder J., GallerS., Kyamakya K., "A low-cost experimental ultra-wideband positioning system", IEEE International Conference on Ultra-Wideband, pp 632-37, Sept. 2005.
6. A. Batra et al., "Multi-band OFDM Physical Layer Proposal for IEEE 802.15 Task Group 3a," Sept. 2003, Document No. IEEE P802.15 - 03/268r1.
7. Public Safety Communication Europe, "D.4.1.1. Public Report EUROPCOM (Emergency Ultrawideband Radio for Positioning and Communications), Summery of the System Architecture, Issue 1," project no. 004154, June 2006.
8. I. Oppermann, L. Stoica, A. Rabbachin, Z. Shelby, and J. Haapola, "UWB Wireless Sensor Notworks: UWEN-A Practical Example" IEEE Radio Communications, pp. S27-S32, Dec. 2004.
9. K. Witrisal, G. Leus, G. J. M. Janssen, M. Pausini, F. Trçsch, T. Zasowski, and J. Romme, "Noncoherent Ultra-Wideband Systems: An Overview of Recent Research Activities," IEEE Signal Processing Magazine, pp. 48-66, July 2009.
10. S. Iida et al., "A 3.1 to 5 GHz CMOS DSSS UWB transceiver for WPANs," in Proc. IEEE Int. Solid-State Circuits Conf., Feb. 2005, vol. 48, pp. 214-215.
11. A. Azakkour, M. Regis, F. Pourchet, and G. Alquie, "A new integrated monocycle generator and transmitter for Ultra-wideband (UWB) communications," in Proc. IEEE Radio Frequency IC Symposium, Jun. 2005, pp. 79-82.
12. S. Bagga, W. A. Serdijn, and J. R. Long, "A PPM Gaussian monocycle transmitter for ultra-wideband communication," in Proc. Int. Ultra Wideband Syst. Technol. Conf., May 2004, pp. 130-134.
13. Y. Jeong, S. Jung, and J. Liu, "A CMOS impulse generator for UWB wireless communication systems," in Proc. Int. Symp. Circuits Syst., May 2004, vol. 4, pp. 129-132.
14. Xue-Song Yang, Kai Tat Ng, Sai Ho Yeung, and Kim Fung Man, "Jumping Genes Multiobjective Optimization Scheme for Planar Monopole Ultrawideband Antenna". IEEE Transactions On Antennas And Propagation, VOL. 56, NO. 12, pp 3659-3666 DEC 2008.
15. Xianming Qing, Zhi Ning Chen, Michael Yan Wah Chia, "UWB Characteristics of Disc Cone Antenna", IEEE International Workshop on Antenna Technology: Small Antennas and Novel Metamaterials, IWAT pp 97-100, March 2005.
16. James D. Taylor, "Ultra-WideBand Radar Technology", CRC Press, Boca Raton, Florida, 2001. ch 2.
17. National Semiconductors, http://www.national.com/store/view-item/index. html?nsid=ADC08D1500DEV.
18. Woo Cheol Chung, Dong Sam Ha, "An accurate ultra wideband (uwb) ranging for precision asset location", IEEE International Conference on Ultra Wideband Systems and Technologies, pp. 389-393, Nov 2003.
19. Rabbachin, A., Oppermann, I., Denis, B., "ML Time-of-Arrival estimation based on low complexity UWB energy detection Ultra-Wideband", IEEE International Conference on Ultra-Wideband, pp. 599-604, Sept. 2006 .
20. Guvenc, I., Sahinoglu, Z., "Threshold-based TOA estimation for impulse radio UWB systems Ultra-Wideband", IEEE International Conference on Ultra Wideband, pp 420-425, Sept 2005.
21. Shaohua Wu, Qinyu Zhang and Naitong Zhang, "A Two-step TOA Estimation Method for IR-UWB Ranging Systems", Fifth Annual Conference on Communication Networks and Services Research, pp. 302-310, May 2007.
22. Segura, M., Mut, V., Patiño, D., "Wavelet Correlation TOA Estimation with Dynamic Threshold setting for IR-UWB Localization System", IEEE Latin-American Conference on Communications LATINCOM '09., pp 1-6 Sept 2009.
23. Sinan Gezici, Zhi Tian, Georgios B. Giannakis, Hisashi Kobayashi, Andreas F. Molisch, H. Vincent Poor, and Zafer Sahinoglu, "Localization via Ultra-Wideband Radios," IEEE Signal Processing Magazine, vol. 22, pp. 70-84, Jul. 2005.
24. Bertrand 'E Fang, "Simple Solutions for Hyperbolic and Related Position Fixes", IEEE Trans on aerospace and electronic systems vol. 26, no. 5 Sep 1990.
25. Julius Smith and Jonathan Abel, "Closed-Form Least-Squares Source Location Estimation from Range-Difference Measurements", IEEE transactions on acoustics, speech, and signal processing, VOL. ASSP-35, NO. 12, Dec 1987.
26. Y. T. Chan, Senior Member, IEEE, and K. C. Ho, Member, "A Simple and Efficient Estimator for Hyperbolic Location" IEEE Transactions On Signal Processing, Vol. 42, no 8, pp 1905-1915 Aug. 1994.
27. So Hing Cheung, Shun Ping Hui, "Constrained Location Algorithm Using TDOA Measurements", IEICE Transaction Fundamentals, vol E86-A, no12, pp 3291-3293 Dec. 2003.
28. MobileRobots Inc., http://www.mobilerobots.com/ResearchRobots/ ResearchRobots/PioneerP3DX.aspx.
29. Ismail Guvenc, Chia-Chin Chong, FujioWatanabe and Hiroshi Inamura, "NLOS Identification and Weighted Least-Squares Localization for UWB Systems Using Multipath Channel Statistics", EURASIP Journal on Advances in Signal Processing, Vol. 2008.
30. González J., Blanco J.L., Galindo C., Ortiz-de-Galisteo A., Fernández-Madrigal J.A., Moreno F.A., Martínez J.L., "Mobile robot localization based on Ultra-Wide-Band ranging: A particle filter approach", Robotics and Autonomous Systems, Elsevier, Vol 57, Issue 5, pp 496-507, 31 May 2009.