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Data fusion using ultra wideband time-of-flight positioning for mobile robot applications

2023Conference paper Open access
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dc.contributor.authorLima, José
dc.contributor.authorPinto, André F.
dc.contributor.authorRibeiro, Francisco
dc.contributor.authorPinto, Milena F.
dc.contributor.authorPereira, Ana I.
dc.contributor.authorPinto, Vítor H.
dc.contributor.authorCosta, Paulo Gomes da
dc.date.accessioned2023-07-26T15:44:50Z
dc.date.available2023-07-26T15:44:50Z
dc.date.issued2023
dc.description.abstractSelf-localization of a robot is one of the most important requirements in mobile robotics. There are several approaches to providing localization data. The Ultra Wide Band Time of Flight provides position information but lacks the angle. Odometry data can be combined by using a data fusion algorithm. This paper addresses the application of data fusion algorithms based on odometry and Ultra Wide Band Time of Flight positioning using a Kalman filter that allows performing the data fusion task which outputs the position and orientation of the robot. The proposed solution, validated in a real developed platform can be applied in service and industrial robots.pt_PT
dc.description.sponsorshiphe authors are grateful to the Foundation for Sci- ence and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020) and SusTEC (LA/P/0007/2021). This work has been supported by NORTE- 01-0247-FEDER-072598 iSafety: Intelligent system for occu- pational safety and well-being in the retail sector. The authors also want to thank CEFET-RJ and FAPERJ.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationLima, José; Pinto, André F.; Ribeiro, Francisco; Pinto, Milena; Pereira, Ana I.; Pinto, Vítor H.; Costa, Paulo (2023). Data fusion using ultra wideband time-of-flight positioning for mobile robot applications. In 2023 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2023. p. 251-256. ISBN 979-8-3503-0121-2pt_PT
dc.identifier.doi10.1109/ICARSC58346.2023.10129560pt_PT
dc.identifier.isbn979-8-3503-0121-2
dc.identifier.urihttp://hdl.handle.net/10198/28594
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.publisherIEEEpt_PT
dc.relationLA/P/0007/2021pt_PT
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.relationResearch Centre in Digitalization and Intelligent Robotics
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectIndustrial robotspt_PT
dc.subjectRobot applicationspt_PT
dc.subjectUltra-wideband (UWB)pt_PT
dc.titleData fusion using ultra wideband time-of-flight positioning for mobile robot applicationspt_PT
dc.typeconference paper
dspace.entity.typePublication
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardTitleResearch Centre in Digitalization and Intelligent Robotics
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F05757%2F2020/PT
oaire.citation.endPage256pt_PT
oaire.citation.startPage251pt_PT
oaire.citation.title2023 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2023pt_PT
oaire.fundingStream6817 - DCRRNI ID
oaire.fundingStream6817 - DCRRNI ID
person.familyNameLima
person.familyNamePereira
person.givenNameJosé
person.givenNameAna I.
person.identifierR-000-8GD
person.identifier.ciencia-id6016-C902-86A9
person.identifier.ciencia-id0716-B7C2-93E4
person.identifier.orcid0000-0001-7902-1207
person.identifier.orcid0000-0003-3803-2043
person.identifier.ridL-3370-2014
person.identifier.ridF-3168-2010
person.identifier.scopus-author-id55851941311
person.identifier.scopus-author-id15071961600
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.rightsopenAccesspt_PT
rcaap.typeconferenceObjectpt_PT
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