Low-Cost UWB-Based Relative Position Estimation for Cyber Physical Multi-Robot System

Abstract

Because unmanned aerial vehicles (UAVs) have relatively free movement compared to unmanned ground vehicles (UGVs), they can be adopted for various tasks. However, low payload and short flight time are the major limitations in operating UAVs. Consequently, lightening UAVs and a multi-UAV system are being researched. With the aim of utilizing the multi-UAV system efficiently, the relative position of each UAV is needed. In this study, we propose a low-cost relative position estimation method for the lightened multi-UAV system that uses only the range data between the UAVs on the cyber physical system. In addition, our method uses the filtered ultra-wideband (UWB) data with reduced outliers by utilizing the sliding window and a low pass filter on the UWB raw data.