On fundamental issues on creating autonomous platform for UWB navigation system

Abstract

The paper presents the difficulties on with which it was necessary to focus during construction an autonomously moving vehicle covering the route between declared points based on an Ultra-wideband (UWB) positioning system, which consisted of four reference points and one tag placed on the vehicle. The platform has been equipped with an intelligent EV3 cube, which is served as an actuator, an independent element of the engine. A model for the selection of points for determining the orientation of the vehicle's movement has also been proposed. The results obtained indicate that the UWB autonomous driving implementation is possible, and the obtained accuracy of access to the destination is within the assumed error tolerance, which is equal to the size of the constructed car. The conducted research can be used in urban traffic, especially in the increasingly dynamically developing branches of the automotive industry - autonomous vehicles especially navigated using UWB. The study also allows us to conclude that this project may be the nucleus of a more complex scenario in the smart autonomous robotics or public transport (support for small autonomous vehicles, electric personal transport vehicles, drones, ADAS systems etc.).