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Article

Component-Wise Error Correction Method for UWB-Based Localization in Target-Following Mobile Robot

1
Division of Mechanical and Aerospace Engineering, Konkuk University, 120 Neungdong-ro, Gwangjin-gu, Seoul 05029, Korea
2
Department of Electrical Engineering, Hoseo University, 20 Hoseo-ro 79 beon-gil, Baebang-eup, Asan-si 31499, Korea
*
Author to whom correspondence should be addressed.
Academic Editors: Antoni Perez-Navarro, Raúl Montoliu and Joaquín Torres-Sospedra
Sensors 2022, 22(3), 1180; https://doi.org/10.3390/s22031180
Received: 6 January 2022 / Revised: 28 January 2022 / Accepted: 2 February 2022 / Published: 4 February 2022
(This article belongs to the Special Issue Advances in Indoor Positioning and Indoor Navigation)
Target-following mobile robots have gained attention in various industrial applications. This study proposes an ultra-wideband-based target localization method that provides highly accurate and robust target tracking performance for a following robot. Based on the least square approximation framework, the proposed method improves localization accuracy by compensating localization bias and high-frequency deviations component by component. Initial calibration method is proposed to measure the device-dependent localization bias, which enables a compensation of the bias error not only at the calibration points, but also at the any other points. An iterative complementary filter, which recursively produces optimal estimation for each timeframe as a weighted sum of previous and current estimation depending on the reliability of each estimation, is proposed to reduce the deviation of the localization error. The performance of the proposed method is validated using simulations and experiments. Both the magnitude and deviation of the localization error were significantly improved by up to 77 and 51%, respectively, compared with the previous method. View Full-Text
Keywords: autonomous mobile robot; UWB localization; target tracking autonomous mobile robot; UWB localization; target tracking
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MDPI and ACS Style

Bae, K.; Son, Y.; Song, Y.-E.; Jung, H. Component-Wise Error Correction Method for UWB-Based Localization in Target-Following Mobile Robot. Sensors 2022, 22, 1180. https://doi.org/10.3390/s22031180

AMA Style

Bae K, Son Y, Song Y-E, Jung H. Component-Wise Error Correction Method for UWB-Based Localization in Target-Following Mobile Robot. Sensors. 2022; 22(3):1180. https://doi.org/10.3390/s22031180

Chicago/Turabian Style

Bae, Kyungbin, Yooha Son, Young-Eun Song, and Hoeryong Jung. 2022. "Component-Wise Error Correction Method for UWB-Based Localization in Target-Following Mobile Robot" Sensors 22, no. 3: 1180. https://doi.org/10.3390/s22031180

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