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Development of a Novel Relative Localization Sensor
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Rymdteknik.
2017 (engelsk)Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
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.

sted, utgiver, år, opplag, sider
2017. , 79 s.
Emneord [en]
Relative Localization, Ultra-wideband, Particle Swarm Optimization, Swarm Robotics, Trilateration, Angulation
HSV kategori
Identifikatorer
URN: urn:nbn:se:ltu:diva-65515OAI: oai:DiVA.org:ltu-65515DiVA: diva2:1140222
Eksternt samarbeid
Monash University
Fag / kurs
Student thesis, at least 30 credits
Utdanningsprogram
Space Engineering, master's level
Presentation
2017-09-04, A2527, Luleå, 15:00 (engelsk)
Veileder
Examiner
Tilgjengelig fra: 2017-09-12 Laget: 2017-09-11 Sist oppdatert: 2017-09-12bibliografisk kontrollert

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