Algorithm of Agent Localization in a Group Using Ultra-Wideband Communication Technology

Robot localization is a fundamental task in autonomous mobile robot designing, since actual position data is a necessary parameter for many robot algorithms. Mostly, for the data obtaining, Global Navigation Satellite Systems (GNSS) are used which error can reach 5m. This article presents a developed GNSS coordinate refining algorithm and its testing results. The algorithm operation is based on GNSS coordinates and distance data between multiple devices (here robots) received through Ultra-Wide Band (UWB) transceivers. The coordinates can be refined locally in the device coordinate system and in the global coordinate system, if high-precision of GNSS data are available for at least one device.