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In this paper, an ultra wide-band (UWB) local-ization system is presented that is used in conjunction with on-board odometry sensors to precisely guide an autonomous factory vehicle along a specified path. A precise UWB-based system has many advantages over conventional automated path following technologies, but the most significant advantage is it...
A local positioning system (LPS) for tracking mobile robots using a newly developed ultra-wideband (UWB) ranging radio technology is presented in this paper. However, measured ranges from these radios often have uncertain biases and large sporadic errors due to multipath and attenuation effect. A fuzzy neighborhood tracking filtering technique was...
In this paper, the controllability of a Mecanum omnidirectional vehicle (ODV) is investigated. An adaptive drive controller is developed that guides the ODV over irregular and unpredictable driving surfaces. Using sensor fusion with appropriate filtering, the ODV gets an accurate perception of the conditions it encounters and then adapts to them to...