Localization scenario with active sensing for range measurements

摘要

The work presents the development and evaluation of uncertainty-based range measurement selection criteria for active sensing within a localization scenario. The simulated setup consists of a mobile unit equipped with a gyroscope, an incremental encoder, and being capable to measure the distance to a finite number of stationary anchors with known positions and associated position uncertainties. The work discusses several major methods for anchor selection based on expected uncertainty minimization and compares them to heuristics methods. The developed techniques are evaluated for non-ideal anchor scenario and different measurement rates.