In this paper environmental imaging of an unknown indoor area is performed by an autonomous mobile security robot called CoLORbot which operates with UWB-Radar. The CoLORbot is fully equipped with professional motion units, UWB-Radar devices, antennas and a laptop for data processing. Solitary objects are randomly distributed. The robot maintains a collision avoiding chaotic track and records UWB pulses throughout his inspection tour. Environmental imaging by means of UWB-Radar is performed with a migration algorithm as well as with the novel revised Range Point Migration method. These partial and fusioned maps of the environment allow an independent and self-localising capability of the CoLORbot and enable an autonomous navigation in an unknown environment.


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    Titel :

    Environmental imaging with a mobile UWB security robot for indoor localisation and positioning applications


    Beteiligte:
    Salman, Rahmi (Autor:in) / Willms, Ingolf (Autor:in) / Sakamoto, Takuya (Autor:in) / Sato, Toru (Autor:in) / Yarovoy, Alexander (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2013-10-01


    Format / Umfang :

    831345 byte



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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