Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic placement and runtime extension of UWB anchors infrastructure while the robot explores the new environment. We provide a detailed analysis of the uncertainty of the positioning system while the UWB infrastructure grows. Moreover, we developed a genetic algorithm that minimizes the deployment of new anchors, saving energy and resources on the mobile robot and maximizing the time of the mission. Although the presented approach is general for any class of mobile system, we run simulations and experiments with indoor drones. Results demonstrate that maximum positioning uncertainty is always controlled under the user's threshold, using the Geometric Dilution of Precision (GDoP).
翻译:对于移动机器人来说,在未知环境中,没有事先存在的定位基础设施的导航总是很困难的。本文件展示了移动代理器的可自行部署的超宽宽带UWB基础设施,允许在机器人探索新环境的同时动态地放置和运行延长UWB锚定基础设施。我们详细分析了定位系统的不确定性,而UWB基础设施则在增长。此外,我们开发了遗传算法,最大限度地减少安装新锚,在移动机器人上节省能源和资源,并最大限度地利用飞行任务的时间。尽管所提出的方法对任何类型的移动系统都是通用的,但我们使用室内无人驾驶飞机进行模拟和实验。结果表明,最大定位不确定性总是在用户门槛下控制,使用地球分解法(GDoP)来控制。