Testing of UWB Sensors For Use in Multi-robot Relative Localization Systems and Design of UWB Plugin for ROS/Gazebo Simulation Environment
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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.
Document typePeer reviewed
Document versionFinal PDF
SourceProceedings I of the 28st Conference STUDENT EEICT 2022: General papers. s. 368-372. ISBN 978-80-214-6029-4
- Student EEICT 2022