RESUMO
This paper presents the design of aperiodic concentric ring arrays for ultra-wide bandwidths (UW-ACRA). This design of ultra-wideband arrays considers the synthesis of concentric rings in two cases: 1) non-uniform spacing between rings with non-uniform spacing between antenna elements of the same ring (UW-ACRAelements); and 2) non-uniform spacing between rings assuming that spacing between antenna elements of the same ring to be equal (UW-ACRArings). This is in order to eliminate the occurrence of grating lobes and generating array structures with useful ultra-wideband properties. The synthesis process is carried out by the well-known method of differential evolution (DE). Wireless sensor networks can take advantage of these properties to achieve less data traffic, efficient delivery of information and better energy efficiency.
RESUMO
In this work, a comparative study between an Ultra Wide-Band (UWB) localization system and a Simultaneous Localization and Mapping (SLAM) algorithm is presented. Due to its high bandwidth and short pulses length, UWB potentially allows great accuracy in range measurements based on Time of Arrival (TOA) estimation. SLAM algorithms recursively estimates the map of an environment and the pose (position and orientation) of a mobile robot within that environment. The comparative study presented here involves the performance analysis of implementing in parallel an UWB localization based system and a SLAM algorithm on a mobile robot navigating within an environment. Real time results as well as error analysis are also shown in this work.