Experiments in Decentralized Multivehicle Localization Using Ultra-Wideband Transceivers
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Authors
Taylor, Emily
Date
2024-05-31
Type
thesis
Language
eng
Keyword
Ultra-Wideband , Mobile Robots , Navigation , Range-Only Localization , Cooperative Localization , Unscented Kalman Filter
Alternative Title
Abstract
This thesis presents a study of a decentralized solution for collaborative decentralized multivehicle localization in GNSS-denied environments using an unscented Kalman filter (UKF). By placing two ultra-wideband (UWB) transceivers on each uncrewed ground vehicle and having vehicles communicate only odometry information, robots are able to act as mobile landmarks for each other. A linear proof-of-concept is first presented and tested in simulation. A more realistic nonlinear version is then developed, with both a world-frame and a relative-frame formulation. Both versions were tested in simulation using Gazebo, and in real-world experiments using
DWM1001 UWB transceivers and three Clearpath Husky robots. The world-frame filter was found to outperform dead reckoning in most instances, however in some cases poor odometry in one robot resulted in reduced performance for other robots in the system. Results for the relative formulation consistently demonstrated superior performance over dead reckoning, with an average improvement of 71.8% in RMSE. Performance was best when some robots remained stationary to act as more reliable landmarks for the vehicle in motion, but the improvement was still significant when all robots were in motion.
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Queen's University's Thesis/Dissertation Non-Exclusive License for Deposit to QSpace and Library and Archives Canada
ProQuest PhD and Master's Theses International Dissemination Agreement
Intellectual Property Guidelines at Queen's University
Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.
Attribution 4.0 International
ProQuest PhD and Master's Theses International Dissemination Agreement
Intellectual Property Guidelines at Queen's University
Copying and Preserving Your Thesis
This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner.
Attribution 4.0 International