Multilocation sequential navigation for autonomous mobile robots based on IR-UWB ranging

Traditional AMR navigation methods require prior mapping or the setup of a coordinate system for interested space, which can impose significant overhead.
We propose and implement an autonomous mobile robot (AMR) navigation system based on impulse radio ultra-wideband (IR-UWB), which relies solely on IR-UWB ranging between IR-UWB terminals mounted on the AMR and those placed at designated locations. Additionally, we incorporate transmit power control (TPC) to mitigate multipath effects and apply a moving average filter to smooth route fluctuation. We implement the navigation system using this approach and validate its effectiveness through experimental measurements.