Target-following Robotic Platform Based on UWB Localization and Depth Camera

Abstract

A mobile robot capable of following a specified target using Ultra-Wideband (UWB) technology and an RGB-D camera is presented in this paper. One of our primary objectives is to promote the use of UWB as a precise and fast real-time localization system (RTLS) in mobile robotics, specifically the target following applications using the approach of non-fixed anchors. We use the depth camera as a complementary sensor to the omnidirectional UWB, to increase the robot’s awareness of its surroundings and possibly also as a way of providing human-machine interaction. This paper also describes creating a simplified mathematical model for computing the control action and the method we have used to measure the system’s rotational dynamics for system identification purposes. Thereafter, we combined a PD controller and proportional virtual spring regulation and selected parameters of the compound regulator to slowly pursue a non-linear movement of the followed person. Our robotic platform is originally meant to carry a toolbox and equipment. However, it might be just as well used in various applications such as material handling in industrial and manufacturing settings, as an assistive technology for load handling in warehouses, construction sites, even carrying airline baggage or military equipment. Most countries implement regulations regarding lifting and carrying loads that are even more strict in case of repetitive or long-term use. Therefore, using a robotic platform in such cases might be convenient.