ATLAS FaST: Fast and Simple Scheduled TDOA for Reliable Ultra-Wideband Localization

2019 International Conference on Robotics and Automation (ICRA) Pub Date : 2019-05-20 DOI:10.1109/ICRA.2019.8793737

J. Tiemann, Yehya Elmasry, Lucas Koring, C. Wietfeld

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引用次数: 20

Abstract

The ever increasing need for precise location estimation in robotics is challenging a significant amount of research. Hence, new applications such as wireless localization based aerial robot control or high precision personal safety tracking are developed. However, most of the current developments and research solely focus on the accuracy of the required localization systems. Multi-user scalability, energy efficiency and real-time capabilities are often neglected. This work aims to overcome the technology barrier by providing scalable, high accuracy, real-time localization through energy-efficient, scheduled time-difference of arrival channel access. We could show that simultaneous processing and provisioning of more than a thousand localization results per second with high reliability is possible using the proposed approach. To enable wide-spread adoption, we provide an open source implementation of our system for the robot operating system (ROS). Furthermore, we provide open source access to the raw data created during our evaluation.

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ATLAS FaST:用于可靠超宽带定位的快速和简单的预定TDOA

机器人技术对精确定位的需求日益增长，这对大量的研究提出了挑战。因此，开发了基于无线定位的空中机器人控制或高精度人身安全跟踪等新应用。然而，目前大多数的发展和研究仅仅集中在所需定位系统的准确性上。多用户可扩展性、能源效率和实时能力往往被忽视。这项工作旨在克服技术障碍，通过节能、预定的到达信道访问时差，提供可扩展、高精度、实时的定位。我们可以证明，使用所提出的方法，每秒同时处理和提供超过一千个高可靠性的定位结果是可能的。为了广泛采用，我们为机器人操作系统(ROS)提供了我们的系统的开源实现。此外，我们提供对评估期间创建的原始数据的开放源代码访问。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2019 International Conference on Robotics and Automation (ICRA)

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