Original title: Testing of UWB Sensors For Use in Multi-robot Relative Localization Systems and Design of UWB Plugin for ROS/Gazebo Simulation Environment
Authors: Raichl, P. ; Marcon, P.
Document type: Papers
Language: eng
Publisher: Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologií
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 the 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 an open-source platform for UAVs from the Multi-robot Systems (MRS) group at the Department of Cybernetics, Faculty of Electrical Engineering, Czech Technical University in Prague. A Simple simulation of a multi-robot system with the designed, integrated plugin is shown.
Keywords: DWM1000; Gazebo; relative localization; ROS; UAV Swarms; UWB; UWB plugin; UWB simulation
Host item entry: Proceedings I of the 28st Conference STUDENT EEICT 2022: General papers, ISBN 978-80-214-6029-4

Institution: Brno University of Technology (web)
Document availability information: Fulltext is available in the Brno University of Technology Digital Library.
Original record: http://hdl.handle.net/11012/209367

Permalink: http://www.nusl.cz/ntk/nusl-677001


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