Nam-Jin Park, Ki-Hyeon Kim, Jeong-Min Ma, Jin-Hee Son, Hyo-Sung Ahn
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Implementation of a multi-drone system for UWB-based onboard localization with free structural anchors
Ultra-wideband (UWB) sensor-based localization systems have been widely used in various applications that require precise positioning. However, most existing localization systems in the literature have limited coverage areas due to the stationary anchors or ground control station (GCS)-based system. To address this limitation, this paper proposes a mobile UWB-based onboard localization system composed of multi-drones with free structural anchors. In this paper, we introduce the detailed hardware and software configuration of the proposed system, based on the robot operating system (ROS). Moreover, we present a modified multilateration method for real-time onboard localization, which improves the localization performance even in the case of coplanar anchors by adaptively adjusting the number of iterations based on the notion of innovation. Finally, the proposed system is verified through outdoor experiments, and the results are compared with existing localization methods.
期刊介绍：
Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.
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