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A UWB-ego-motion particle filter for indoor pose estimation of a ground robot using a moving horizon hypothesis

Yuri Durodie, Thomas Decoster, Ben Van Herbruggen (UGent) , Jono Vanhie-Van Gerwen (UGent) , Eli De Poorter (UGent) , Adrian Munteanu and Bram Vanderborght
(2024) SENSORS. 24(7).
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Abstract
Ultra-wideband (UWB) has gained increasing interest for providing real-time positioning to robots in GPS-denied environments. For a robot to act on this information, it also requires its heading. This is, however, not provided by UWB. To overcome this, either multiple tags are used to create a local reference frame connected to the robot or a single tag is combined with ego-motion estimation from odometry or Inertial Measurement Unit (IMU) measurements. Both odometry and the IMU suffer from drift, and it is common to use a magnetometer to correct the drift on the heading; however, magnetometers tend to become unreliable in typical GPS-denied environments. To overcome this, a lightweight particle filter was designed to run in real time. The particle filter corrects the ego-motion heading and location drift using the UWB measurements over a moving horizon time frame. The algorithm was evaluated offline using data sets collected from a ground robot that contains line-of-sight (LOS) and non-line-of-sight conditions. An RMSE of 13 cm and 0.12 (rad) was achieved with four anchors in the LOS condition. It is also shown that it can be used to provide the robot with real-time position and heading information for the robot to act on it in LOS conditions, and it is shown to be robust in both experimental conditions.
Keywords
sensor fusion, UWB, IMU, UWB pose estimation, robot pose control, LOCALIZATION

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MLA
Durodie, Yuri, et al. “A UWB-Ego-Motion Particle Filter for Indoor Pose Estimation of a Ground Robot Using a Moving Horizon Hypothesis.” SENSORS, vol. 24, no. 7, 2024, doi:10.3390/s24072164.
APA
Durodie, Y., Decoster, T., Van Herbruggen, B., Vanhie-Van Gerwen, J., De Poorter, E., Munteanu, A., & Vanderborght, B. (2024). A UWB-ego-motion particle filter for indoor pose estimation of a ground robot using a moving horizon hypothesis. SENSORS, 24(7). https://doi.org/10.3390/s24072164
Chicago author-date
Durodie, Yuri, Thomas Decoster, Ben Van Herbruggen, Jono Vanhie-Van Gerwen, Eli De Poorter, Adrian Munteanu, and Bram Vanderborght. 2024. “A UWB-Ego-Motion Particle Filter for Indoor Pose Estimation of a Ground Robot Using a Moving Horizon Hypothesis.” SENSORS 24 (7). https://doi.org/10.3390/s24072164.
Chicago author-date (all authors)
Durodie, Yuri, Thomas Decoster, Ben Van Herbruggen, Jono Vanhie-Van Gerwen, Eli De Poorter, Adrian Munteanu, and Bram Vanderborght. 2024. “A UWB-Ego-Motion Particle Filter for Indoor Pose Estimation of a Ground Robot Using a Moving Horizon Hypothesis.” SENSORS 24 (7). doi:10.3390/s24072164.
Vancouver
1.
Durodie Y, Decoster T, Van Herbruggen B, Vanhie-Van Gerwen J, De Poorter E, Munteanu A, et al. A UWB-ego-motion particle filter for indoor pose estimation of a ground robot using a moving horizon hypothesis. SENSORS. 2024;24(7).
IEEE
[1]
Y. Durodie et al., “A UWB-ego-motion particle filter for indoor pose estimation of a ground robot using a moving horizon hypothesis,” SENSORS, vol. 24, no. 7, 2024.
@article{01HW2JNYMCJPCDZJC4P034M36B,
  abstract     = {{Ultra-wideband (UWB) has gained increasing interest for providing real-time positioning to robots in GPS-denied environments. For a robot to act on this information, it also requires its heading. This is, however, not provided by UWB. To overcome this, either multiple tags are used to create a local reference frame connected to the robot or a single tag is combined with ego-motion estimation from odometry or Inertial Measurement Unit (IMU) measurements. Both odometry and the IMU suffer from drift, and it is common to use a magnetometer to correct the drift on the heading; however, magnetometers tend to become unreliable in typical GPS-denied environments. To overcome this, a lightweight particle filter was designed to run in real time. The particle filter corrects the ego-motion heading and location drift using the UWB measurements over a moving horizon time frame. The algorithm was evaluated offline using data sets collected from a ground robot that contains line-of-sight (LOS) and non-line-of-sight conditions. An RMSE of 13 cm and 0.12 (rad) was achieved with four anchors in the LOS condition. It is also shown that it can be used to provide the robot with real-time position and heading information for the robot to act on it in LOS conditions, and it is shown to be robust in both experimental conditions.}},
  articleno    = {{2164}},
  author       = {{Durodie, Yuri and  Decoster, Thomas and Van Herbruggen, Ben and Vanhie-Van Gerwen, Jono and De Poorter, Eli and Munteanu, Adrian and Vanderborght, Bram}},
  issn         = {{1424-8220}},
  journal      = {{SENSORS}},
  keywords     = {{sensor fusion,UWB,IMU,UWB pose estimation,robot pose control,LOCALIZATION}},
  language     = {{eng}},
  number       = {{7}},
  pages        = {{18}},
  title        = {{A UWB-ego-motion particle filter for indoor pose estimation of a ground robot using a moving horizon hypothesis}},
  url          = {{http://doi.org/10.3390/s24072164}},
  volume       = {{24}},
  year         = {{2024}},
}
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