Fast Estimation of Relative Transformation Based on Fusion of Odometry and UWB Ranging Data
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866909207776722944 |
|---|---|
| author | Fu, Yuan Zhang, Zheng Zeng, Guangyang Liu, Chun Wu, Junfeng Ren, Xiaoqiang |
| author_facet | Fu, Yuan Zhang, Zheng Zeng, Guangyang Liu, Chun Wu, Junfeng Ren, Xiaoqiang |
| contents | In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step estimation method based on maximum likelihood estimation. Specifically, a good initial value is obtained through unconstrained least squares and projection, followed by a more accurate estimate achieved through one-step Gauss-Newton iteration. Additionally, the optimal installation positions of Ultra-Wideband (UWB) are provided, and the minimum operating time under different quantities of UWB devices is determined. Simulation demonstrates that the two-step approach offers faster computation with guaranteed accuracy while effectively addressing the relative transformation estimation problem within limited space constraints. Furthermore, this method can be applied to real-time relative transformation estimation when a specific number of UWB devices are installed. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_12577 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Fast Estimation of Relative Transformation Based on Fusion of Odometry and UWB Ranging Data Fu, Yuan Zhang, Zheng Zeng, Guangyang Liu, Chun Wu, Junfeng Ren, Xiaoqiang Robotics Optimization and Control 93J08 G.m In this paper, we investigate the problem of estimating the 4-DOF (three-dimensional position and orientation) robot-robot relative frame transformation using odometers and distance measurements between robots. Firstly, we apply a two-step estimation method based on maximum likelihood estimation. Specifically, a good initial value is obtained through unconstrained least squares and projection, followed by a more accurate estimate achieved through one-step Gauss-Newton iteration. Additionally, the optimal installation positions of Ultra-Wideband (UWB) are provided, and the minimum operating time under different quantities of UWB devices is determined. Simulation demonstrates that the two-step approach offers faster computation with guaranteed accuracy while effectively addressing the relative transformation estimation problem within limited space constraints. Furthermore, this method can be applied to real-time relative transformation estimation when a specific number of UWB devices are installed. |
| title | Fast Estimation of Relative Transformation Based on Fusion of Odometry and UWB Ranging Data |
| topic | Robotics Optimization and Control 93J08 G.m |
| url | https://arxiv.org/abs/2405.12577 |