Controlling a robot rover by UWB radio location information

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Fehér Gábor
Department of Broadband Infocommunications and Electromagnetic Theory

In this thesis, I present a solution to a tracking issue, where the mobile robot only knows the distance from the target, and it navigates based on this measurement to the target. The algorithm is tested both in simulation and in the real environment with a mobile robot then the results are compared.

Firstly, I introduce the technologies available nowadays for tracking robots, then I follow up with the mathematical description of the movement models. I present the algorithm for the path finding, which is calculated by the actual and previous distance from the target and the distance from the two measurement points. Later on I touch upon the Kalman-filtering, which is used for reducing the measurement noise.

In the second part of the thesis I discuss the technology used for the robot like the Two-way ranging (TWR) distance measurement based on the Ultra-wideband radio signals. For TWR I used Decawave DW1000, EFM32LG STK3600 devices and tachometer.

Finally, I present the measurement and calibration results and compare the result of the simulation and the algorithm running on the robot.


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