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...