Demonstrates pose estimation improvement in mobile robots using ultra-wideband tags, suggesting enhanced navigation accuracy.
This study presents a pose estimation system for indoor mobile robots using two ultra-wideband (UWB) tags. Recently, UWB tags have become a popular research topic for the self-localization of indoor mobile robots owing to their high efficiency and accuracy. A UWB tag is attached to the robot for self-localization, and the distances are then measured between the UWB tag and several anchors that are fixed at known positions within the deployment area. Based on the measured distances, the location of the robot can be estimated using trilateration. The directional and positional information is essential for the autonomous navigation of a mobile robot. Herein, two UWB tags have been employed to estimate the heading angle and the position of a mobile robot simultaneously. This study also analyzed the effect of baseline distance between the two tags on the heading angle error and verified the results through various experiments.
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Park et al. (2026) studied this question.
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