Publication result 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

English Title

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

Type

Paper in proceedings (conference paper)

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.

English 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

Key words in English

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

Authors

RAICHL, P.; MARCOŇ, P.

RIV year

2022

Released

26.04.2022

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"
}