Mobile robot 6D pose estimation using a wireless localization network
Dobrev Y, Reustle C, Pavlenko T, Cordes F, Vossiek M (2016)
Publication Language: English
Publication Status: Published
Publication Type: Conference contribution, Conference Contribution
Publication year: 2016
Publisher: Institute of Electrical and Electronics Engineers Inc.
Article Number: 7533923
ISBN: 9781509023677
DOI: 10.1109/ICMIM.2016.7533923
Abstract
Global navigation satellite systems (GNSS) are widely used for localization on Earth, but are not available on other planets, so that robotic planetary exploration missions need to use alternative methods for localization. This paper presents a wireless localization network (WLN) for estimating the 3D position and 3D orientation of a mobile robot. It consists of at least one reference 24 GHz radar node with known pose, and a mobile node on the robot. The reference nodes can determine the distance and both spatial angles to the mobile robot (thus locating it in 3D) using round-trip time of flight measurements and digital beamforming. We use an extended Kalman filter (EKF) to fuse these results with the readings from the mobile node, and an inclinometer to determine the complete 6D pose of the mobile robot. Measurements in a realistic scenario prove the feasibility of the proposed concept.
Authors with CRIS profile
Yassen Dobrev
Lehrstuhl für Hochfrequenztechnik
Christoph Reustle
Lehrstuhl für Hochfrequenztechnik
Tatiana Pavlenko
Lehrstuhl für Hochfrequenztechnik
Martin Vossiek
Lehrstuhl für Hochfrequenztechnik
Involved external institutions
Germany (DE)How to cite
APA:
Dobrev, Y., Reustle, C., Pavlenko, T., Cordes, F., & Vossiek, M. (2016). Mobile robot 6D pose estimation using a wireless localization network. In Proceedings of the 2016 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility, ICMIM 2016. Institute of Electrical and Electronics Engineers Inc..
MLA:
Dobrev, Yassen, et al. "Mobile robot 6D pose estimation using a wireless localization network." Proceedings of the 2016 IEEE MTT-S International Conference on Microwaves for Intelligent Mobility, ICMIM 2016 Institute of Electrical and Electronics Engineers Inc., 2016.
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