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An Experimental Evaluation of Indoor Localization in Autonomous Mobile Robots.
Mina Khoshrangbaf1, Vahid Khalilpour Akram1, Moharram Challenger2
1International Computer Institute, Ege University, 35100 Bornova, Izmir, Turkey.
Sensors (Basel, Switzerland)
|April 12, 2025
Summary
Ultra wideband (UWB) technology offers superior indoor localization accuracy for mobile robots compared to Bluetooth low energy (BLE) and WiFi. UWB provides high precision with fewer anchors, making it ideal for autonomous navigation.
Area of Science:
- Robotics
- Wireless Communication
- Indoor Localization
Background:
- Precise indoor localization is crucial for autonomous mobile robots.
- Challenges include signal interference, multipath propagation, and complex indoor environments.
- Existing technologies like WiFi and Bluetooth low energy (BLE) have limitations.
Purpose of the Study:
- To comprehensively compare the accuracy of WiFi, BLE, and ultra wideband (UWB) for indoor mobile robot localization.
- To evaluate performance under various experimental conditions.
Main Methods:
- Experimental comparison of WiFi, BLE, and UWB localization systems.
- Quantitative measurement of error margins for static and mobile robot tracking.
- Testing with a limited number of UWB anchors in a defined area.
Main Results:
- WiFi systems exhibited a significant error margin (up to 608.7 cm).
- BLE systems showed improved accuracy over WiFi (191.7 cm for static, 340.1 cm for mobile robots).
- UWB systems achieved high precision, with average error margins below 13.1 cm (static) and 28.9 cm (mobile), even with only four anchors.
Conclusions:
- UWB technology significantly outperforms BLE and WiFi in indoor robot localization accuracy.
- UWB requires fewer anchors and offers substantial error reduction.
- UWB is poised to become the dominant technology for future indoor tracking systems due to its precision and cost-effectiveness.
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