UWB Tracking of Mobile Robots (original) (raw)
Portable ultra-wideband (UWB) radio ranging technology is employed for developing a local positioning system (LPS) aimed at tracking mobile robots. The paper focuses on addressing the challenges posed by sporadic errors in range data through the implementation of fuzzy neighborhood filters to remove outliers, and progressive trilateration filters to enhance update rates. Combining UWB data with inertial measurements, a comprehensive sensor fusion approach is presented, validated through experimental results and comparisons with video evidence.