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Open AccessArticle

Ultra Wide-Band Localization and SLAM: A Comparative Study for Mobile Robot Navigation

Instituto de Automatica, National University of San Juan, Av. Libertador Gral. San Martin 1109 Oeste, J5400ARL San Juan, Argentina
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Sensors 2011, 11(2), 2035-2055; https://doi.org/10.3390/s110202035
Received: 10 December 2010 / Revised: 26 January 2011 / Accepted: 28 January 2011 / Published: 10 February 2011
(This article belongs to the Section Physical Sensors)
In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work. View Full-Text
Keywords: ultra wide-band; SLAM; mobile robots ultra wide-band; SLAM; mobile robots
MDPI and ACS Style

Segura, M.J.; Auat Cheein, F.A.; Toibero, J.M.; Mut, V.; Carelli, R. Ultra Wide-Band Localization and SLAM: A Comparative Study for Mobile Robot Navigation. Sensors 2011, 11, 2035-2055.

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