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.
Unmanned Ground Vehicles (UGV) are devices capable of performing basic working movements without the operator being in their immediate working environment. Their capabilities include but are not limited to the perception of the environment with the use of sensors, determining the platform’s position, and planning and executing its movement. Ultra Wideband (UWB) is one of the wireless communication technologies which is increasingly used in location systems. This article presents the use of UWB technology in developing a guide localization system for a UGV (one of the stages of implementing a follow-me system). The article describes tests carried out on the developed testbed. Their aim was to determine the hardware configuration of the anchor arrangement characterized by the minimum number of lost data packets during operation. In order to determine the influence of the analysed variables on the output values, the method of global sensitivity analysis for neural networks was used.
More and more commonly, manipulators and robots equipped with effectors are used to replace humans in the implementation of tasks that require significant working abilities or are used in dangerous zones. These constructions have considerable ranges and are capable of carrying heavy loads. The specificity of the tasks performed with the use of mentioned devices requires their control by a human. Intuitive tracking systems are used to control them. Problems in their use result from the kinematic amplification between the effector and the operator’s hand. Proper design of the drive and control systems for these manipulators requires knowledge of the maximum velocities of the manipulator’s effectors, which significantly depend on the scale ratio. The article presents the results of the effector’s velocity movements while performing a specific task by the operator’s hand with different velocities and scale ratios.
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