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Development of a Novel Relative Localization Sensor
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

By enabling coordinated task execution and movement, robotic swarms can achieve efficient exploration or disaster site management. When utilizing Ultra-wideband (UWB) radio technology for ranging, the proposed relative localization sensor can be made lightweight and relatively indifferent to the ambient environment. Infrastructure dependency is eliminated by making the whole sensor fit on a swarm agent, while allowing for a certain amount of positional error. In this thesis, a novel algorithm is implemented in to constrained hardware and compared to a more traditional trilateration approach. Both algorithms utilize Particle Swarm Optimization (PSO) to be more robust towards noise and achieves similar accuracy, but the proposed algorithm can run up to ten times faster. The antenna array which forms the localization sensor weighs only 56g, and achieves around 0.5m RMSE with a 10Hz update rate. Experiments show that the accuracy can be further improved if the rotational bias observed in the UWB devices are compensated for.

Place, publisher, year, edition, pages
2017. , 79 p.
Keyword [en]
Relative Localization, Ultra-wideband, Particle Swarm Optimization, Swarm Robotics, Trilateration, Angulation
National Category
Aerospace Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-65515OAI: oai:DiVA.org:ltu-65515DiVA: diva2:1140222
External cooperation
Monash University
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Presentation
2017-09-04, A2527, Luleå, 15:00 (English)
Supervisors
Examiners
Available from: 2017-09-12 Created: 2017-09-11 Last updated: 2017-09-12Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • vancouver
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Language
  • de-DE
  • en-GB
  • en-US
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Output format
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