1. Fast Estimation of Relative Transformation Based on Fusion of Odometry and UWB Ranging Data
- Author
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Fu, Yuan, Zhang, Zheng, Zeng, Guangyang, Liu, Chun, Wu, Junfeng, and Ren, Xiaoqiang
- Subjects
Computer Science - Robotics ,Mathematics - Optimization and Control ,93J08 ,G.m - Abstract
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., Comment: 15 pages, 4 figures
- Published
- 2024