Abstract :
Positioning and guiding robots is one of the significant issues in mobile robotics. Positioning and navigation are essential for indoor workshops because GPS signals have no effect and significant errors. There are many solutions for indoor robot positioning, such as odometry, INS, ultrasonic, laser range finder (LRF), computer vision [1- 3], and RF positioning systems such as RSSI [4], [5], UWB [6- 11], chirp spread-spectrum (CSS) [13]. In this paper, we use UWB, combine IMU to locate the robot in the house, dead reckoning [14], and Kalman [15] extension to filter the signal under the embedded dspic32 chip.