UWB-Based Tracking of Autonomous Vehicles with Multiple Receivers
نویسندگان
چکیده
In this paper, we consider real-time tracking of an Autonomous Guided Vehicle (AGV) in an indoor industrial scenario. An on-board odometer provides information about the dynamic state of the AGV, allowing to predict its pose (position and orientation). At the same time, an external Ultra Wide Band (UWB) wireless network provides the information necessary to compensate the error drift accumulated by the odometer. Two novel alternative solutions for real-time tracking are proposed: (i) a classical Time Differences of Arrivals (TDOA) approach with a single receiver; (ii) a “Twin-receiver” TDOA (TTDOA) approach, that requires the presence of two independent receivers on the AGV. The performance of the two proposed algorithms is evaluated in realistic conditions. The obtained results clearly show the tradeoff existing between the frequency of UWB measurements and their quality.
منابع مشابه
Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کاملA Novel Sampling Approach in GNSS-RO Receivers with Open Loop Tracking Method
Propagation of radio occultation (RO) signals through the lower troposphere results in high phase acceleration and low signal to noise ratio signal. The excess Doppler estimation accuracy in lower troposphere is very important in receiving RO signals which can be estimated by sliding window spectral analysis. To do this, various frequency estimation methods such as MUSIC and ESPRIT can be adopt...
متن کاملScheduling of Multiple Autonomous Guided Vehicles for an Assembly Line Using Minimum Cost Network Flow
This paper proposed a parallel automated assembly line system to produce multiple products having multiple autonomous guided vehicles (AGVs). Several assembly lines are configured to produce multiple products in which the technologies of machines are shared among the assembly lines when required. The transportation between the stations in an assembly line (intra assembly line) and among station...
متن کاملImproved ultra wideband-based tracking of twin-receiver automated guided vehicles
In this paper, we present the design and performance analysis of an innovative system for tracking Automated Guided Vehicles (AGVs) in indoor industrial scenarios. An on-board odometer provides information about the dynamic state of the AGV, allowing to predict its pose (i.e., its position and orientation). At the same time, an external Ultra-Wide Band (UWB) wireless network provides the inform...
متن کاملAdaptive Neural Network Method for Consensus Tracking of High-Order Mimo Nonlinear Multi-Agent Systems
This paper is concerned with the consensus tracking problem of high order MIMO nonlinear multi-agent systems. The agents must follow a leader node in presence of unknown dynamics and uncertain external disturbances. The communication network topology of agents is assumed to be a fixed undirected graph. A distributed adaptive control method is proposed to solve the consensus problem utilizing re...
متن کامل