UWB Indoor Global Localisation for Nonholonomic Robots with Unknown Offset Compensation
Daniele Fontanelli,Farhad Shamsfakhr,Paolo Bevilacqua,Luigi Palopoli,Daniele Fontanelli,Farhad Shamsfakhr,Paolo Bevilacqua,Luigi Palopoli
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 ro...
