Explorando a banda ultralarga (UWB) para posicionamento e transferência de dados entre VANTs em ambientes cooperativos

Abstract

The advancement of modern robotics has enabled the interaction and coordination among multiple robots in the joint execution of complex tasks, such as exploration missions in challenging environments. For such coexistence to be effective, two fundamental requirements must be met: the ability of robots to localize themselves within the environment and the efficient exchange of information among them. Various technologies have been employed to manage this interaction. This work proposes the application of ultra-wideband (UWB) communication technology in cooperative environments involving unmanned aerial vehicles (UAVs), highlighting its potential and robustness in integrating precise localization and data exchange tasks, while eliminating the need for additional technologies, thus reducing system costs and complexity. The methodology involved the implementation of a two-dimensional (2D) experimental system using an unmanned ground vehicle (UGV) and the Two-Way Ranging (TWR) localization method. Conducting the experiments in a bidimensional plane allowed for the elimination of the complexity associated with three-dimensional (3D) measurements. Different configurations of physical parameters and data payloads were evaluated, including the simultaneous transmission of image fragments during localization operations. The results indicated that properly adjusting physical parameters and transmitted data load can promote efficient integration between localization and data communication functionalities, reinforcing the feasibility of using UWB technology as a unified solution for cooperative mobile robot applications.