Key points are not available for this paper at this time.
This study entailed the implementation of a mobile robot autonomous driving system comprising a microprocessor with IEEE 802.15.4z UWB technology, which is the latest ultra-wideband (UWB) standard. First, the high-rate pulse (HRP) UWB technology of the recent IEEE 802.15.4z standard, as well as the distance measurement method outlined therein, was examined. This study considered a mobile robot equipped with an attached UWB tag in an embedded environment. Its two-dimensional position was calculated on the basis of data from three fixed UWB anchors by using the single-sided two-way ranging (SS-TWR) method outlined in the standard. On the basis of the calculated location information, the wheels of the mobile robot were driven using the inverse kinematics of the unicycle model such that the two-wheel-drive mobile robot could move to the desired destination. All these processes were implemented using a microcomputer to achieve real-time operate, and the mobile robot successfully realized autonomous driving on a set trajectory. Thus, autonomous driving of a mobile robot was demonstrated using only UWB and a microcomputer, obviating cameras, radar, lidar, and inertial sensors.
Jeong et al. (Wed,) studied this question.