Accuracy Analysis of UWB Based Tracking System for Unmanned Ground Vehicles

Malon, Krzysztof; Łopatka, Jerzy; Rykała, Łukasz; Łopatka, Marian Janusz

doi:10.23919/ntsp.2018.8524118

Cited by 4 publications

(8 citation statements)

References 10 publications

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“…Conducted identification and simulation tests [4] have proven that it is possible to determine the position of a guide in a follow-me scenario and that this can be achieved using UWB technology. The next step in the process of developing a follow-me system was to determine the final hardware configuration, which would allow the minimization of data loss during wireless communication when the UGV is operational.…”

Section: Configuring the Uwb Systemmentioning

confidence: 99%

“…This paper focuses on two placement configurations for the anchors (connected to the UGV). The first one, called the vertical configuration (Figure 3a), is a basic setup, which maximizes tag to anchor antenna visibility [4]. The second solution, called a spatial configuration (Figure 3b), is characterized by the distribution of anchors in a 3D space, as opposed to a planar placement from the vertical configuration.…”

Section: Configuring the Uwb Systemmentioning

confidence: 99%

“…The follow-me mode does not require such complex systems or manual control of the platform by the operator [3,4]. In this mode, the vehicle follows the route set by the guide.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

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

2021

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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.

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Section: Configuring the Uwb Systemmentioning

confidence: 99%

Section: Configuring the Uwb Systemmentioning

confidence: 99%

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

2021

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“…In the analysis of the used localization algorithms, attention was paid to the Time of Arrival (TOA) method (the previously described TWR uses Time of Flight (TOF) of the UWB signals for distance calculation). For this purpose, among others, geometrical methods, trilateration, Taylor Series, extended Kalman filters, particle filters, or optimization methods can be used [33][34][35][36][37][38][39].…”

Section: Localization Algorithmsmentioning

confidence: 99%

Research on Developing an Outdoor Location System Based on the Ultra-Wideband Technology

Rykała

Typiak

2020

Sensors

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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.

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“…The special arguments in favor of UGV are the minimization of human losses, caused by the reduction of the risk of a direct threat to the health and life of a soldier through the use of robots in the modern battlefield. Additional arguments are: autonomy [17] and increasing the possibilities of sub-branches through the additional potential that UGV have. It concerns both the combat means [5,22,23] as well as supplies [18,24] and equipment for the contemporary robots often specialized for specific tasks [25,26].…”

Section: Introductionmentioning

confidence: 99%

Application of the Bloch-Schmigalla Method to Optimize the Organization of the Process of Repairing Unmanned Ground Vehicles

Małachowski¹,

Ziółkowski²,

Lęgas³

et al. 2020

Adv. Sci. Technol. Res. J.

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The aim of this paper was to present the application of the Bloch-Schmigalla method in order to deploy work stations and create a military equipment repair model under field conditions. Proper allocation of repair stations is of crucial importance from the point of view of a given material's flow optimization. The aim of proper object allocation is such use of space that enables continuous, efficient and safe work. On the basis of numerical data, the advantages of using the Bloch-Schmigalla method for the optimal location of repair positions were presented. The proposal to optimize the organization of the repair process with using the Bloch-Schmigalla method entails multiple advantages e.g. decreasing the volume of transport activity size or time saving resulting from the rational arrangement of repair stations for unmanned ground vehicles.

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Accuracy Analysis of UWB Based Tracking System for Unmanned Ground Vehicles

Cited by 4 publications

References 10 publications

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

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

Research on Developing an Outdoor Location System Based on the Ultra-Wideband Technology

Application of the Bloch-Schmigalla Method to Optimize the Organization of the Process of Repairing Unmanned Ground Vehicles

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