Real-Time Indoor Tracking

In this paper, a development of an autonomously navigating robot car, where the robot car would autonomously navigate towards a user-defined destination location, using a UWB based indoor localization system is described. For accurate 3-axis indoor localization, Pozyx indoor localization system was used, which uses Decawave DWM1000 chips for UWB communication. Time of Arrival distance calculation method, and Least Linear Square Algorithm were used for calculation of location co-ordinates of the Pozyx mobile tag, which was integrated with the robot car. A GUI was developed on Unreal Engine, to provide real-time visual representation of location of the robot car. The user was allowed to set destination co-ordinates using pick and place in the developed Unreal Engine GUI. The autonomous navigation robot was programmed, using an Arduino Uno microcontroller. Minimum accuracy for indoor static indoor localization achieved for the system for all the 3-axis was 90% in the 3D environment. Furthermore, a minimum accuracy for autonomous navigation towards destination co-ordinates achieved for the system in the x-axis and y-axis was 87%. A minimum navigation speed of 35cm/s was achieved by the robot car. For future works, autonomous navigation in 3-axis could be performed. Communication between the robot car and controlling PC could be performed using wireless methods, to improve range of operation of the robot.