ULTRA-WIDEBAND POSITIONING FOR ASSISTANCE ROBOTS FOR ELDERLY

摘要

In this paper, we suggest to use low cost robots and Ultrarnwideband (UWB) technology in order to help elderly. Inrnthe context of the targeted application, a mobile robot isrndesigned to remotely interact with a person acting as supervisor,rnand also to monitor their environment. UWB isrnthen very helpful to ensure precise localization of the robotrninside the house.rnFirst, we present our experimental robotic platform,rnbased on of-the-shelves components, and our experimentalrnsoftware environment in the cloud. Then, we describernour localization approach which relies on two phases: Timernof Arrival (ToA) estimation using the dirty template algorithm,rnand Bancroft method for the robot position estimation.rnFinally, our simulation results are presented and discussed.