Application of UWB technology based localization in mobile robots

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Dr. Koller István
Department of Networked Systems and Services

Building on the results of my Bachelor thesis I integrate the UWB based localization method into a car-like robot's system, making it capable of determining its two-dimensional and three-dimensional position. Using the position data with the help of the L1 guidance algorithm, the robot is able to travel a pre-planned route autonomously.

The system of the robot contains multiple embedded modules, that are controlled by microcontrollers based on ARM Cortex M core. The embedded software projects have unified, layered architecture. To efficiently execute several tasks, I use real time operating system.

During the work I created different software tools - running in PC environment - to monitor and configure the embedded systems, furthermore I implemented tools for simulation, measurement management, and for visualization and evaluation of the measurement results.

I end my master's thesis by presenting the simulation and measurement results and by interpreting the system's performance in a real environment.


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