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

• Main Authors: Rafał Typiak, Łukasz Rykała, Andrzej Typiak
• Format: Article
• Language: English
• Published: MDPI AG 2021-09-01
• Series: Energies
• Subjects: Ultra Wideband; follow-me; Unmanned Ground Vehicles; global sensitivity analysis; neural networks
• Online Access: https://www.mdpi.com/1996-1073/14/17/5517

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.