Localisation of Mobile Robots via Ultra-Wideband Systems

This paper presents an innovative solution that allows an autonomous mobile robot (AMR) to locate itself in space via UWB nodes. This reduces the possibility of error caused by the modularity of warehouses and makes it possible to send variable missions based on the data received. To this end, it was decided to use ultra-wideband (UWB) nodes, which allow to calculate the spatial coordinates of a reference tag with respect to the robot. Using this approach, material was taken from a storage facility and loaded on board using an anthropomorphic arm positioned on the mobile robot. Subsequently, other reference tags are used to locate a mobile truck equipped with a loading platform. In this way, a mission can be sent to the mobile robot to get on the truck and be transported to another work area. The article describes the advantages and difficulties of this localisation methodology and shows how tests were carried out to verify its functioning. The study is part of eMOBOTS (electric mobility robot & shuttle), a project that aims to develop mobility solutions for the smart factory developed by TEKNE srl, the Department of Industrial Engineering and Mathematical Sciences, Polytechnic University of Marche and the company Joytek.