Skip to Main Content
 

Global Search Box

 
 
 
 

Files

File List


Marc Krumbein Masters Thesis.pdf (1.66 MB)

Supplemental Files

File List


Marc Krumbein Thesis Appendix.zip (518.04 KB)

ETD Abstract Container

Abstract Header

Heading Estimation of a Mobile Robot Using Multiple UWB Position Sensors

Krumbein, Marc
http://rave.ohiolink.edu/etdc/view?acc_num=case1555001007552678

Abstract Details

2019, Master of Sciences (Engineering), Case Western Reserve University, EECS - Electrical Engineering.
The act of localizing a mobile robot typically can be divided into the measurement of robot position and estimation of robot heading. At present, most existing systems use multiple sensor systems in tandem paired with a mathematical model of robot behavior to achieve one or both of these. This thesis explores an alternative approach to heading estimation utilizing the relative position of multiple position sensors on a mobile robot to infer robot heading. This thesis then goes on to examine the precision of this system, the accuracy in sensor position estimation with respect to sensor orientation, and demonstration of the use of this system applied to the task of plowing snow. This proposed system was demonstrated to provide local X and Y coordinate estimates with a standard deviation under 1 cm and a robot heading estimate with a standard deviation of 0.6 degrees in a static position and orientation. Sensor directionality was explored through the measurement of sensor positions at known orientations at the center of the robot testing area. The collected data was used to create a simple correction function that could be used to adjust for position offsets given sensor orientation. Before correction, it was observed that on rotation of an individual sensor, the estimated sensor position may drift by up to 8 cm in the X or Y direction. After applying the correction function to the gathered data it was observed that the X and Y coordinates were within ± 2 cm of the target location regardless of orientation. The proposed system was then applied to a mobile snowplow robot and used to demonstrate that despite its simple nature, it was adequate to navigate between a set of predefined points. Using estimated heading as proportional feedback in a primitive navigation scheme, the robot was able to navigate between points several meters apart while staying within 20 cm of straight line paths between them.
Francis Merat (Advisor)
78 p.
Engineering
Decawave, UWB, MDEK1001, heading, localization, robot

Recommended Citations

Citations

  • Krumbein, M. (2019). Heading Estimation of a Mobile Robot Using Multiple UWB Position Sensors [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1555001007552678

    APA Style (7th edition)

  • Krumbein, Marc. Heading Estimation of a Mobile Robot Using Multiple UWB Position Sensors. 2019. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1555001007552678.

    MLA Style (8th edition)

  • Krumbein, Marc. "Heading Estimation of a Mobile Robot Using Multiple UWB Position Sensors." Master's thesis, Case Western Reserve University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1555001007552678

    Chicago Manual of Style (17th edition)

case1555001007552678
1,676
© 2019, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.