Data fusion using ultra wideband time-of-flight positioning for mobile robot applications

Self-localization of a robot is one of the most important requirements in mobile robotics. There are several approaches to providing localization data. The Ultra Wide Band Time of Flight provides position information but lacks the angle. Odometry data can be combined by using a data fusion algorithm. This paper addresses the application of data fusion algorithms based on odometry and Ultra Wide Band Time of Flight positioning using a Kalman filter that allows performing the data fusion task which outputs the position and orientation of the robot. The proposed solution, validated in a real developed platform can be applied in service and industrial robots. ; he authors are grateful to the Foundation for Sci- ence and Technology (FCT, Portugal) for financial support through national funds FCT/MCTES (PIDDAC) to CeDRI (UIDB/05757/2020 and UIDP/05757/2020) and SusTEC (LA/P/0007/2021). This work has been supported by NORTE- 01-0247-FEDER-072598 iSafety: Intelligent system for occu- pational safety and well-being in the retail sector. The authors also want to thank CEFET-RJ and FAPERJ. ; info:eu-repo/semantics/publishedVersion