Screening Tracking Algorithm based on Ultra-Wideband Sensor for AGV tracking

This paper proposes a screening tracking algorithm based on ultra-wideband sensor. In view of the uncertain location results near the anchor nodes and the specific occlusion area in the Time Difference of Arrival location method of three anchor nodes, the proposed algorithm adopts indoor environment information and AGV motion state information to filter location results and aided in reducing the probability of location errors, in which the AGV motion state information comes from tracking algorithm. The simulation results demonstrate that the algorithm in this paper has a high probability of correct location and can effectively track and locate Automated Guided Vehicle under the condition of three anchor nodes.