A UWB based Localization System for Indoor Robot Navigation

Abstract

For robots to become more popular for domestic applications, the short comings of current indoor navigation technologies have to be overcome. In this paper, we propose the use of UWB-IR for indoor robot navigation. Various parts of an actual implementation of a UWB-IR based robot navigation system such as system architecture, RF sub-system design, antennas and localization algorithms are discussed. It is shown that by properly addressing the various issues, a localization error of less than 25 cm can be achieved at all points within a realistic indoor localization space.