Research on selected location algorithms for the UGV operating in a follow-me scenario based on ultra-wideband positioning system

• Autorzy: Rykała Łukasz , Przybysz Mirosław , Cieślik Karol , Krogul Piotr , Typiak Rafał , Typiak Andrzej

Identyfikatory

DOI

10.12913/22998624/194149

• Języki publikacji: EN

Abstrakty

EN

Ultra Wideband (UWB) technology is a highly developed wireless radio communication technology used, among others, in location systems. The article focuses on using UWB technology to construct a guide location system for an Unmanned Ground Platform (UGV). In order to carry out the research, the parameters of the measurement noise occurring in real UWB modules were determined. The mentioned noise simulated disturbed distance measurement indications, modelling real measurements. The paper presents the results of simulation research of selected location algorithms for a guide location system based on UWB technology. The work compares the total location errors of the guide of selected algorithms based on geometric methods, trilateration and optimization methods. Simulation studies allow for quick testing of algorithms, taking into account real disturbances and constitute the first stage of work on implementing various algorithms in a real positioning system.

Słowa kluczowe

EN

UGV; follow-me; Ultra-wideband; UWB; positioning system; location algorithm

• Wydawca: Lublin University of Technology ; Polish Society of Ecological Engineering (PTIE), Branch of PTIE in Lublin
• Czasopismo: Advances in Science and Technology. Research Journal
• Rocznik: 2025
• Tom: Vol. 19, no. 1
• Strony: 1--14
• Opis fizyczny: Bibliogr. 43 poz., fig.

Twórcy

autor

Rykała Łukasz

• Faculty of Mechanical Engineering, Military University of Technology, ul. gen. Sylwestra Kaliskiego 2, 00-908 Warsaw, Poland

• https://orcid.org/0000-0002-2301-3280

autor

Przybysz Mirosław

• Faculty of Mechanical Engineering, Military University of Technology, ul. gen. Sylwestra Kaliskiego 2, 00-908 Warsaw, Poland

• https://orcid.org/0000-0003-2479-7571

autor

Cieślik Karol

• Faculty of Mechanical Engineering, Military University of Technology, ul. gen. Sylwestra Kaliskiego 2, 00-908 Warsaw, Poland

• https://orcid.org/0000-0003-4126-2878

autor

Krogul Piotr

• Faculty of Mechanical Engineering, Military University of Technology, ul. gen. Sylwestra Kaliskiego 2, 00-908 Warsaw, Poland

• https://orcid.org/0000-0002-3082-1075

autor

Typiak Rafał

• Faculty of Mechanical Engineering, Military University of Technology, ul. gen. Sylwestra Kaliskiego 2, 00-908 Warsaw, Poland

• https://orcid.org/0000-0003-1380-9979

autor

Typiak Andrzej

• Faculty of Mechanical Engineering, Military University of Technology, ul. gen. Sylwestra Kaliskiego 2, 00-908 Warsaw, Poland

• https://orcid.org/0000-0003-1992-015X

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