Abstract
Ultra-wideband (UWB) technology is one of the most promising wireless communication technologies. Examples of UWB applications include, among others, radiocommunication devices and location systems, due to their operating range, ability to work in outdoor environments, and resistance to multipath effects. This article focuses on the use of UWB technology in constructing a guide localization system for an unmanned ground vehicle (UGV), which is one of the stages of implementing a “follow me” system. This article describes the complete process of UWB signal processing from its acquisition, methods of filtering, and obtained results, to determining the location of the guide. This article examines the possibility of using modified versions of localization algorithms for determining the guide’s location, including trilateration, methods of nonlinear programming, and a geometric algorithm proposed by us. The innovation of this study consists in the implementation of an algorithm that changes the selection of equations (mathematical model) for determining location based on the number of available measurements from UWB sensors.
Highlights
Unmanned ground vehicles (UGVs) are robotic systems that operate on land without an onboard human operator
More UGVs are being used to perform tasks considered dangerous for people, especially in outdoor environments, such as firefighting or Improvised Explosive Device (IED) neutralization
The aforementioned applications have emerged from the current trends in the design of UGVs, which focus on the protection of human life and assume that these tasks will be carried out solely by machines [1,2,3,4]
Summary
Unmanned ground vehicles (UGVs) are robotic systems that operate on land without an onboard human operator. The aforementioned applications have emerged from the current trends in the design of UGVs, which focus on the protection of human life and assume that these tasks will be carried out solely by machines [1,2,3,4] Depending on their application, UGVs can be controlled remotely by an operator either from the immediate platform’s surroundings or from a position located away from the work area. The “follow me” mode (classified as partial autonomy [9,10,11]) ensures that the operator does not need to manually control the platform. In this mode, the platform follows the human guide using a built-in sensor or set of sensors. The most important tasks of this mode are maintaining a set distance from the guide and keeping the platform’s heading directed towards that
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