213 / 2020-01-02 04:40:00

A UWB-based Low Cost and High-accuracy Localization Approach for Mobile Robots

ultra wide band; mobile robot localization

Demanding for warehousing automation and intelligence is critical with the rapid development of information and big data teleology. In most storehouses, cargoes are mainly carried by Automatic Guided Vehicles (AGVs) or even manpower. Most AGVs follow predefined paths that are normally paved by some marks detected by AGVs. It largely limits the application of AGVs. Some AGVs relies on a highly accurate Light Laser Detection and Ranging (LiDAR) for navigation. The paper presents a low-cost localization approach for indoor AGVs with the localization accuracy up to centimetres. It allows an AGV to move freely without any predefined paths, but also reduces the cost largely. The Ultra Wide Band (UWB) technology is used in our approach. In the paper, a gradient decent method cooperated with a least square method is developed to deal with the nonlinearity of UWB ranging data. An optimal localization result is achieved. Meanwhile, the approach is able to diagnose the original UWB data and will discard any data corrupted by non-ignorable noises. Thus, the robustness is guaranteed.