Ultra-Wideband Localization for Crane-Robot Cooperation

With the increasing automation of manufacturing and logistics, large number of robots, automated machines and automated cranes will operate in indoor environments. Due to the lack of global navigation satellite systems (GNSS) in indoor environments, safe localization of robots and machines remains a great challenge. In this study, the use of an ultra-wideband system for the indoor localization of robots and machines was investigated. The cooperation between a crane and a robot was examined as an exemplary process. A commercially available ultra-wideband system was integrated into the Robot Operating System (ROS) to localize the robot and the crane. The presented system was validated with a one-dimensional following situation between the crane and the robot. The trajectories of the robot and the crane demonstrate the capability of the presented system. Overall, the research indicates that ultra-wideband systems can be used as an indoor localization method for automated material flow processes.