Method for Determining Ultra-Wideband Anchor Coordinates in a Cell-splitting Environment for Positioning a Mobile Robot

We construct an ultra-wideband (UWB) positioning system for autonomous mobile robots supporting the transport of fruits. We also propose a mobile robot system that uses the UWB positioning system for autonomous movements in environments with posts arranged in a lattice. In a UWB positioning system, the coordinates of the UWB devices in the trellis must be determined in advance. In the proposed system, the UWB devices automatically estimate their own coordinates. The positioning accuracy of the proposed UWB system is verified through experiments.