Development of Ultra-Wide-Band Indoor Positioning System Designed to Control The Position of a Grid Confined Robotic Platform

摘要

The article presents a new approach for the design of an Ultra-wideband (UWB) indoor positioning system (IPS) for position control of a mecanum driven robotic platform. The IPS was constructed using Decawave MDEK1001 development kit. The robotic platform, run by an ATmega2560 microcontroller, achieved an X-Y location accuracy of 7 cm. HC-12 Bluetooth modules were utilized for wireless communication to the microcontroller. A software integration of Tera Term, MATLAB, and Arduino IDE was built to expand the range of hardware and software available to the system. The integration also provides a plug-and-play installation of commercially available UWB modules, allowing for processing and other filtering to occur on MATLAB. Further, the system allows for integration of IoT, multi-robot systems, and different UWB modules in a centralized MATLAB hub.