Application of ultra-wide band localization techniques for mobile robot navigation and map building in closed environments

Navigation in indoor environments often faces the problem of lacking a reliable global reference frame due to non availability of  satellite-based localization and  remains an open area to research.
    
In project ROBDEKON, there are multiple robots used to do  decontamination work, e.g. at nuclear power plants. Contamination caused by hazardous substances is harmful and  causes serious health risk to the people working on the sites. Therefore, partially autonomous behavior of the robot is desired which requires localization in the environment.
    
Ultra-wide-band (UWB) localization is a technology that promises to increase the performance of many indoor localization methods that are currently available like marker detection, feature tracking or scan matching. This master thesis contributes to the investigation  of the practical applicability of ultra-wide-band based localization techniques in the field of mobile robotics. The special focus will be on the integration of such a localization network into our already existing, graph-based simultaneous localization and mapping (SLAM) solution.