Localization With Particle Filter Based on Odometer and Uwb
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Date
2020
Authors
Oğuz Ekim, Pınar
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Publisher
IEEE
Open Access Color
Green Open Access
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Abstract
In this paper, the particle filter structure that uses odometer and Ultra-wide band (UWB) sensors for positioning autonomous ground vehicles used in confined spaces was investigated. Accordingly, UWB sensor packages written for Turtlebot3 libraries are mentioned. The positioning algorithm has been evaluated both in simulation environment using Robot Operating System (ROS) and in real test environment. Positioning accuracy is sufficient for practical applications, but as the number of reference sensors increases, results with better precision are obtained.
Description
2nd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA) -- JUN 26-27, 2020 -- TURKEY
Keywords
UWB, odometer, localization, ROS, Indoor Localization, Slam, Tutorial
Fields of Science
0209 industrial biotechnology, 02 engineering and technology
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Source
2Nd Internatıonal Congress on Human-Computer Interactıon, Optımızatıon And Robotıc Applıcatıons (Hora 2020)
Volume
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Start Page
23
End Page
28
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