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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2504.07658 |
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| _version_ | 1866916683589877760 |
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| author | Nüchter, Andreas Werner, Lennart Hesse, Martin Borrmann, Dorit Walter, Thomas Montenegro, Sergio Grömer, Gernot |
| author_facet | Nüchter, Andreas Werner, Lennart Hesse, Martin Borrmann, Dorit Walter, Thomas Montenegro, Sergio Grömer, Gernot |
| contents | Localization of an autonomous mobile robot during planetary exploration is challenging due to the unknown terrain, the difficult lighting conditions and the lack of any global reference such as satellite navigation systems. We present a novel approach for robot localization based on ultra-wideband (UWB) technology. The robot sets up its own reference coordinate system by distributing UWB anchor nodes in the environment via a rocket-propelled launcher system. This allows the creation of a localization space in which UWB measurements are employed to supplement traditional SLAM-based techniques. The system was developed for our involvement in the ESA-ESRIC challenge 2021 and the AMADEE-24, an analog Mars simulation in Armenia by the Austrian Space Forum (ÖWF). |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_07658 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | UWB Anchor Based Localization of a Planetary Rover Nüchter, Andreas Werner, Lennart Hesse, Martin Borrmann, Dorit Walter, Thomas Montenegro, Sergio Grömer, Gernot Robotics Systems and Control 68T40 B.m; C.2.4 Localization of an autonomous mobile robot during planetary exploration is challenging due to the unknown terrain, the difficult lighting conditions and the lack of any global reference such as satellite navigation systems. We present a novel approach for robot localization based on ultra-wideband (UWB) technology. The robot sets up its own reference coordinate system by distributing UWB anchor nodes in the environment via a rocket-propelled launcher system. This allows the creation of a localization space in which UWB measurements are employed to supplement traditional SLAM-based techniques. The system was developed for our involvement in the ESA-ESRIC challenge 2021 and the AMADEE-24, an analog Mars simulation in Armenia by the Austrian Space Forum (ÖWF). |
| title | UWB Anchor Based Localization of a Planetary Rover |
| topic | Robotics Systems and Control 68T40 B.m; C.2.4 |
| url | https://arxiv.org/abs/2504.07658 |