Publication detail

Testing of UWB Sensors For Use in Multi-robot Relative Localization Systems and Design of UWB Plugin for ROS/Gazebo Simulation Environment

RAICHL, P. MARCOŇ, P.

Original Title

Testing of UWB Sensors For Use in Multi-robot Relative Localization Systems and Design of UWB Plugin for ROS/Gazebo Simulation Environment

Type

conference paper

Language

English

Original Abstract

This paper studies the possibility of using UWB sensors DWM1000 as a part of relative localization systems and a part of local avoidance systems in multi-robot systems, especially UAV swarms. The first part of the paper presents behavior of UWB sensors DWM1000 in real, various conditions/environments. The second part of this paper describes ROS/Gazebo UWB plugin for relative localization. This plugin was created based on the first part of this paper and it is integrated with ctu mrs system. Simple simulation of multi-robot system with the designed, integrated plugin is shown.

Keywords

UWB, DWM1000, UAV Swarms, ROS, Gazebo, UWB plugin, UWB simulation, relative localization

Authors

RAICHL, P.; MARCOŇ, P.

Released

26. 4. 2022

Publisher

Brno University of Technology, Faculty of Electrical Engineering and Communication

Location

Brno

ISBN

978-80-214-6029-4

Book

PROCEEDINGS I OF THE 28TH STUDENT EEICT 2022 GENERAL PAPERS

Edition

1

Pages from

368

Pages to

372

Pages count

5

URL

https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2022_sbornik_1_v2.pdf

BibTex

@inproceedings{BUT177715,
  author="Petr {Raichl} and Petr {Marcoň}",
  title="Testing of UWB Sensors For Use in Multi-robot Relative Localization Systems and Design of UWB Plugin for ROS/Gazebo Simulation Environment",
  booktitle="PROCEEDINGS I OF THE 28TH STUDENT EEICT 2022 GENERAL PAPERS",
  year="2022",
  series="1",
  pages="368--372",
  publisher="Brno University of Technology, Faculty of Electrical Engineering and Communication",
  address="Brno",
  isbn="978-80-214-6029-4",
  url="https://www.eeict.cz/eeict_download/archiv/sborniky/EEICT_2022_sbornik_1_v2.pdf"
}