UWB based novel approach for orientation estimation and path planning for field robots without IMU

Conventionally the pose of the field robot is estimated using the combination of Inertial Measurement Unit(IMU) and position sensors like Ultra Wideband(UWB), GPS. In this paper an approach to estimate the position and orientation of a field robot only using UWB sensor is presented. One UWB tag integrated with the field robot is sufficient for positional estimation but not for orientation. So, the system is realized using two UWB tags integrated to the field robot. A novel method is proposed for the estimation of orientation. Based on the estimation of initial pose of the field robot using our approach a set of waypoints are generated for path planning and navigation. The generated waypoints are visualized using a 3D visualization tool Rviz. This approach is suitable for both indoor and outdoor navigation of field robots.