Object following method for a differential type mobile robot based on Ultra Wide Band distance sensor system

摘要

This paper explain a method for a differential robot to track and follow an object based on Ultra Wide Band(UWB) distance sensor system. To track a target object, the method uses a tag and two anchors to get distances from the object. The method derives a distance and an angle by two sensor distance data and then it is used to calculate control values. The values can make the robot follow moving object. This method can be applied for a human following cart in a factory and so on. The applied UWB system can be used not only for the implementation of the human following function but also for the indoor positioning system by using several UWBs in indoor environment.