US 12,093,055 B2
Method and apparatus for object following robot using UWB and odometry-based relative position estimation
Jeong Gi Yang, Daejeon (KR)
Assigned to ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed by ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE, Daejeon (KR)
Filed on Nov. 10, 2021, as Appl. No. 17/523,501.
Claims priority of application No. 10-2021-0088738 (KR), filed on Jul. 6, 2021.
Prior Publication US 2023/0008482 A1, Jan. 12, 2023
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/028 (2013.01) [G05D 1/027 (2013.01); G05D 1/0272 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for following an object by a robot equipped with a first ultra-wideband (UWB) communication module and a first odometry measurement device, the method comprising:
initializing a following algorithm of the robot according to a following request message from the object, wherein, in the initializing, a relative position vector from the robot to the object and a covariance of the relative position vector are initialized based on the following request message, and wherein the following request message includes an object UWB communication address signal of a second UWB communication module of the object, the object being a target followed by the robot;
transmitting a single-sided two-way ranging (SS-TWR) poll message;
receiving a single response message in response to the SS-TWR poll message from an object, the single response message including second odometry information of a second odometry measurement device of the object;
estimating a distance to the object based on a round trip delay according to the SS-TWR poll message and the single response message;
predicting a position of the object based on the second odometry information and first odometry information of the first odometry measurement device;
correcting the predicted position of the object based on the estimated distance when the predicted position of the object is greater than a predetermined reference value; and
after the initializing, waiting until a norm of the covariance becomes less than or equal to a specific value.