Sensing Error Compensation Algorithm for Ultra-Wideband Following Systems

Abstract

This study proposes a sensing error compensation algorithm to correct the distance estimated by ultra-wideband (UWB) following systems that estimate distance based on sensor data. The UWB following systems used for carts on farms and in shopping malls inevitably have errors to the magnitude of 0.25–0.4 m in distance estimation. The proposed algorithm reduces errors to less than 0.05 m, greatly increasing the sensitivity of the following systems and reducing the risk of collision.