Indoor Localization of Mobile Robots with Wireless Sensor Network Based on Ultra Wideband using Experimental Measurements of Time Difference of Arrival

Conference item


Oumar, O, Sattar, T and Tokhi, MO (2018). Indoor Localization of Mobile Robots with Wireless Sensor Network Based on Ultra Wideband using Experimental Measurements of Time Difference of Arrival. CLAWAR 2018. Panama City 10 - 12 Sep 2018
AuthorsOumar, O, Sattar, T and Tokhi, MO
Abstract

This paper presents investigations into wireless localization techniques for mobile robots operating in indoor environments. Localization systems can guide robots to perform
different tasks such as monitoring children or elderly people, aid mobility of the visually impaired and localize mobile objects or packages in warehouses. They are essential for localization of robots operating in re-mote places that are inaccessible or hazardous to humans. Currently, ultra wide band (UWB) in indoor environments provides an accuracy of 24 mm under line of sight (LOS) or non-line of sight (NLOS) conditions in a working
range of 160 m indoors. The work presented in this paper carries out experimental validation of localization algorithms using mobile robots and UWB signals. These are measured in LOS and NLOS environments. The measurements are performed with the
UWB radio PulsON 410 (P410) and mobile robots (AmigoBot) with maximum travel-ling speed of 1 m/s and equipped with an on-board computer, sonar, odometer, camera and inertial
navigation system. Experimental results obtained for the system show positioning errors of less than 55 mm.

Year2018
Accepted author manuscript
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CC BY 4.0
Accepted author manuscript
License
CC BY 4.0
Publication dates
Print10 Sep 2018
Publication process dates
Deposited26 Sep 2018
Accepted26 Jul 2018
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https://openresearch.lsbu.ac.uk/item/86977

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Benomair, AM, Firdaus, AR and Tokhi, MO (2016). Fuzzy sliding control with non-linear observer for magnetic levitation systems. MED 2016 - 24th Mediterranean Conference on Control and Automation. Athens, Greece 21 - 24 Jun 2016 London South Bank University. pp. 256-261 doi:10.1109/MED.2016.7536025
Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines
Goher, KM, Almeshal, AM, Agouri, SA, Nasir, ANK, Tokhi, MO, Alenezi, MR, Al Zanki, T and Fadlallah, SO (2017). Hybrid spiral-dynamic bacteria-chemotaxis algorithm with application to control two-wheeled machines. Robotics and Biomimetics. 4 (1).
Assessment strategy of human upper forearm inter-relation and muscle fatigue
Wan Daud, WMB and Tokhi, MO (2017). Assessment strategy of human upper forearm inter-relation and muscle fatigue. CLAWAR2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 London South Bank University.
Real-time embedded sliding mode observer for quadcopter UAVs
Firdaus, AR and Tokhi, MO (2017). Real-time embedded sliding mode observer for quadcopter UAVs. CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 London South Bank University.
Upper-limb exoskeleton for human muscle fatigue
Ali, SK and Tokhi, MO (2017). Upper-limb exoskeleton for human muscle fatigue. CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 London South Bank University.
Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair.
Abdul Ghani, NM and Tokhi, MO (2016). Sit-to-Stand and Stand-to-Sit Control Mechanisms of Two-Wheeled Wheelchair. Journal of Biomechanical Engineering. 138 (4).
Fuzzy PID control of lower limb exoskeleton for elderly mobility
Rezage, GA and Tokhi, MO (2016). Fuzzy PID control of lower limb exoskeleton for elderly mobility. 2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR). Cluj-Napoca, Romania 19 - 21 May 2016 London South Bank University. doi:10.1109/AQTR.2016.7501310
Simulation and control of multipurpose wheelchair for disabled/elderly mobility
Abdul Ghani, NM and Tokhi, MO (2016). Simulation and control of multipurpose wheelchair for disabled/elderly mobility. Integrated Computer-Aided Engineering. 23 (4), pp. 331-347.
Joint variable stiffness of musculoskeletal leg mechanism for quadruped robot
Lei, J, Zhu, J, Xie, P and Tokhi, MO (2017). Joint variable stiffness of musculoskeletal leg mechanism for quadruped robot. Advances in Mechanical Engineering. 9 (4), pp. 1-11.
Development of a novel crawler based robot for mooring chain climbing
Dissanayake, M, Howlader, MOF, Sattar, TP, Gan, T and Pinson, I (2017). Development of a novel crawler based robot for mooring chain climbing. 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR). Porto, Portugal 11 - 13 Sep 2017 Singapore World Scientific Publishing Co.
Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots
Sattar, TP (2014). Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots. 11th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies (CM 2014/MFPT 2014). Manchester, UK 10 - 12 Jun 2014 London South Bank University.
Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges
Sattar, TP (2016). Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges. International Conference on Sustainable Vital Technologies in Engineering and Informatics, BUE ACE1 2016. Cairo, Egypt 07 - 09 Nov 2016 London South Bank University.
Non-Destructive Testing Robot Applications in Hazardous Environments
Sattar, TP (2017). Non-Destructive Testing Robot Applications in Hazardous Environments. Robots in Society: Current Robotics. London South Bank University, London 08 Nov 2017 London South Bank University.
Robotics for Inspection and Decommissioning of Nuclear Power Plant
Sattar, TP (2017). Robotics for Inspection and Decommissioning of Nuclear Power Plant. Presentation to Integrity Management Group, TWI Ltd, Cambridge. Cambridge 08 Feb 2017 London South Bank University.
Plenary keynote: Monitoring Safety Critical Infrastructure with Mobile Robots
Sattar, TP (2017). Plenary keynote: Monitoring Safety Critical Infrastructure with Mobile Robots. Silva, M, Virk, GS, Tokhi, MO, Malheiro, B, Guedes, P and Ferreira, P (ed.) 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 Singapore World Scientific Publishing Co. Pte. Ltd. pp. 9-9
Integration and management of solar energy for electric vehicle charging station
Khan, A, Memon, S and Sattar, TP (2017). Integration and management of solar energy for electric vehicle charging station. Solar World Congress 2017 - Innovation for the 100% renewable energy transformation. Abu Dhabi, UAE 29 Oct - 02 Nov 2017 London South Bank University.
Climbing Robots for NDT Applications
Al Rashed, M, Kimball, M, Vega, L, Vera, D, Soler, J, Correa, M, Garcia, A, Virk, GS and Sattar, TP (2017). Climbing Robots for NDT Applications. 20th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines, CLAWAR 2017. Porto, Portugal 11 - 13 Sep 2017 London South Bank University. doi:https://doi.org/10.1142/9789813231047_0036
Reciprocating compressor prognostics
Loukopoulos, P, Sampath, S, Plidis, P, Zolkiewski, G, Bennett, I, Duan, F, Sattar, TP and Mba, D (2017). Reciprocating compressor prognostics. CMSM 2017 7th International Congress Design and Modelling of Mechanical Systems. Hammamet, Tunisia 27 - 29 Mar 2017 London South Bank University.
Design and Optimization of Permanent Magnet Based Adhesion Module for Robots Climbing on Reinforced Concrete Surfaces
Howlader, MOF and Sattar, TP (2016). Design and Optimization of Permanent Magnet Based Adhesion Module for Robots Climbing on Reinforced Concrete Surfaces. in: Bi, Y, Kapoor, S and Bhatia, R (ed.) Intelligent Systems and Applications: Extended and Selected Results from the SAI Intelligent Systems Conference (IntelliSys) 2015 Springer. pp. 153-171
Numerical fitting-based likelihood calculation to speed up the particle filter
Li, T, Sun, S, Corchado, JM, Sattar, TP and Si, S (2016). Numerical fitting-based likelihood calculation to speed up the particle filter. International Journal of Adaptive Control and Signal Processing. 30 (11), pp. 1583-1602.
Non-destructive testing robots (NDTBOTS) for in-service storage tank inspection
Anvo, R, Sattar, TP, Gan, T and Pinson, I (2017). Non-destructive testing robots (NDTBOTS) for in-service storage tank inspection. Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR). Porto Polytechnic, Portugal 11 - 13 Sep 2017
Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures
Sattar, TP, Howlader, MOF and Dudley, S (2016). Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering. 10 (8), pp. 1346-1352.
Miniaturization of Dipole Antenna for Low Frequency Ground Penetrating Radar
Howlader, MOF and Sattar, TP (2016). Miniaturization of Dipole Antenna for Low Frequency Ground Penetrating Radar. Progress In Electromagnetics Research C (PIER C). 61, pp. 161-170.
Deployment of laser cutting head with wall climbing robot for nuclear decommissioning
Sattar, TP, Hilton, P and Howlader, MOF (2016). Deployment of laser cutting head with wall climbing robot for nuclear decommissioning. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 London South Bank University.
Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications
Oumar, O A, Siyau, M F and Sattar, T. (2012). Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications. The First International Conference on Future Generation Communication Technologies. London 12 - 14 Dec 2012