Reduction Error of Mobile Robot's Positioning by Splitting UWB Positioning Area into Multiple Coordinate Systems in Overhead-trellis Environment

Abstract

Overhead-trellis environment is an environment where it is difficult to use existing position estimation methods such as satellite positioning systems. To automate farm work in the trellis environment, we proposed an autonomous mobile robot system using UWB as a position estimation method. In order to use UWB positioning system, it is necessary to determine coordinates of UWB devices placed in the trellis environment in advance. In related works, methods were proposed to automatically determine coordinates of UWB devices. In a method of related works, there is a problem that errors in coordinates of UWB devices that are far from the origin accumulate. Therefore, proposed method splits the UWB positioning area into multiple coordinate systems. The effectiveness of proposed method was verified through the evaluation of splitting coordinate system and autonomous moving of mobile robot.