Configuring a UWB Based Location System for a UGV Operating in a Follow-Me Scenario

Abstract

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.

EEG Signal Analysis for Monitoring Concentration of Operators

“…This information is necessary to determine the Nyquist limit (half the value of the Of course, it is possible to examine the signal in a broader spectrum, but it does not add any additional information about the condition of the examined person. Moreover, measurements with frequencies close to 50 Hz should be done carefully due to the presence of an artifact from the electrical network with the aforementioned frequency [17][18][19][20].…”

UWB Positioning Algorithm Based on Fuzzy Inference and Adaptive Anti-NLOS Kalman Filtering

“…(2) An obstacle was placed 10 cm away from the base station node to collect the signal characteristic data 500 times; (3) The distance between the obstacle and the base station node was increased by 20 cm after each measurement of a group of data, followed by 500 times of signal characteristic data collection; (4) The obstacle was moved in the abovementioned method until it could not be placed between the tag node and the base station node; (5) The distance between the tag node and the base station node was increased by 0.5 m, and the previous procedures were repeated until this distance reached 3 m. The experimental scene for exploring the relationship between the CIR signal characteristics of UWB and the ranging errors in the LOS environment was basically consistent with that in the NLOS environment, except that the former had no obstacles in the middle. The experimental processes are set below: (1) The base station node was fixed at a specific position, while the tag node was placed 0.5 m away from it, and the signal characteristic data were collected 500 times at this position; (2) The position of the tag node was changed to increase the distance by 0.5 m, the corresponding testing was conducted, and data were recorded; (3) The previous operation was repeated until the distance between the tag node and the base station node reached 3 m.…”

“…Under the influences of such factors as the blockage of buildings and the complexity of environments, the traditional outdoor global positioning system (GPS) satellite positioning technology is becoming unable to meet the requirements of indoor and outdoor positioning due to great positioning errors [1]. Compared with Wi-Fi, radio frequency identification, ultrasound, Bluetooth and other positioning technologies, ultra-wideband (UWB)-based positioning technology has many advantages, including centimeter-level positioning accuracy, good multi-path resistance, preferable resistance against the interference of other electronic signals from complex environments and strong penetrability [2,3], which not only endow it with high reliability but also facilitate the collection of dynamic data and real-time positioning of moving objects in complex environments [4]. The emergence of the fifth-generation mobile communication technology (5G) provides a new idea for highprecision indoor positioning.…”

Application of Smoothing Spline in Determining the Unmanned Ground Vehicles Route Based on Ultra-Wideband Distance Measurements

“…Four of them (receivers) were deployed on an existing UGV, while the fifth module (transmitter) was attached to the guide as a part of the developed subsystem. The described subsystem estimates the relative operator’s position based on distance measurements [ 11 , 12 ]. Various technologies are used in commercial “follow-me” system solutions, including UWB [ 13 , 14 ].…”