Analysis and optimization of an ultra wide band real-time locating system : Solution for a mobile robot platform

Details

Supervisors

Craeye, Christophe ; Vandendorpe, Luc

Faculty

Ecole polytechnique de Louvain

Degree label

Master [120] : ingénieur civil électromécanicien, à finalité spécialisée: mécatronique

Abstract

This work presents the design of a Real-Time Location System (RTLS) based on Ultra-Wideband (UWB) technology, integrated into a real-world mobile robot platform. It begins with an overview of RTLS technologies and their applications in mobile robotics, followed by an examination of the requirements specific to the target platform and operating environment. An introduction to UWB-based RTLS is provided, detailing each subsystem and accompanied by a state-of-the-art review for every component. Aconceptual design is then proposed, leading to the development of a functional implementation. This implementation is tested and validated through a structured set of experiments. The report concludes by summarizing the key findings, emphasizing the effectiveness of the proposed RTLS in improving mobile robot positioning accuracy, and comparing its performance with a prior implementation. It also outlines future directions aimed at enhancing system performance in challenging environments.