The approach is general for any class of mobile system, we run simulations and experiments with indoor drones . We provide a detailed analysis of the uncertainty of the positioning system while the UWB infrastructure grows . We developed a genetic algorithm that minimizes the deployment of newanchors, saving energy and resources on the mobile robot and maximizing the mission . Results demonstrate that maximum positioning uncertainty is always controlledunder the user’s threshold, using the Geometric Dilution of Precision (GDoP) Using the GDoP, we use a tool to control the positioning uncertainty of a mobile robot’s position system while it explores the new environment .

Author(s) : Luca Santoro, Davide Brunelli, Daniele Fontanelli

Links : PDF - Abstract

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Keywords : uncertainty - mobile - system - positioning - gdop -

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