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International Conference on Future Generation Communication and Networking

FGCN 2010: Communication and Networking pp 188–198Cite as

UWB-Based Tracking of Autonomous Vehicles with Multiple Receivers

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Part of the Communications in Computer and Information Science book series (CCIS,volume 119)

Abstract

In this paper, we consider real-time tracking of an Autonomous Guided Vehicle (AGV) in an indoor industrial scenario. An on-board odometer provides information about the dynamic state of the AGV, allowing to predict its pose (position and orientation). At the same time, an external Ultra Wide Band (UWB) wireless network provides the information necessary to compensate the error drift accumulated by the odometer. Two novel alternative solutions for real-time tracking are proposed: (i) a classical Time Differences of Arrivals (TDOA) approach with a single receiver; (ii) a “Twin-receiver” TDOA (TTDOA) approach, that requires the presence of two independent receivers on the AGV. The performance of the two proposed algorithms is evaluated in realistic conditions. The obtained results clearly show the tradeoff existing between the frequency of UWB measurements and their quality.

Keywords

  • Extend Kalman Filter
  • Autonomous Vehicle
  • Reference Node
  • Ultra Wide Band
  • Collision Domain

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Author information

Authors and Affiliations

  1. Wireless Ad-hoc and Sensor Networks (WASN) Lab, Department of Information Engineering, University of Parma, Italy

    Stefano Busanelli & Gianluigi Ferrari

Authors
  1. Stefano Busanelli
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  2. Gianluigi Ferrari
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Editor information

Editors and Affiliations

  1. Hannam University, Daejeon, South Korea

    Tai-hoon Kim

  2. National Chung Cheng University, Chiayi County, Taiwan

    Alan Chin-Chen Chang

  3. Dalian University of Technology, 116620, Dalian, P.R. China

    MingChu Li

  4. University of Stavanger, 4036, Stavanger, Norway

    Chunming Rong

  5. National Technical University of Athens, Heroon Politechniou 9, 157 73, Athens, Zographou T.K., Greece

    Charalampos Z. Patrikakis

  6. University of Warsaw & Infobright Inc., Poland

    Dominik Ślęzak

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© 2010 Springer-Verlag Berlin Heidelberg

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Busanelli, S., Ferrari, G. (2010). UWB-Based Tracking of Autonomous Vehicles with Multiple Receivers. In: Kim, Th., Chang, A.CC., Li, M., Rong, C., Patrikakis, C.Z., Ślęzak, D. (eds) Communication and Networking. FGCN 2010. Communications in Computer and Information Science, vol 119. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17587-9_22

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  • DOI: https://doi.org/10.1007/978-3-642-17587-9_22

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-17586-2

  • Online ISBN: 978-3-642-17587-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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