Haoru UWB
Project requirements
The application must handle target loss under poor lighting or obstruction, coordinate position data with chassis control, and accommodate different power and communication interfaces. RSSI alone does not provide reliable target direction, while mismatched control interfaces can introduce lag or oscillation.
Solution
The described integration coordinates sensing, decision and execution through a following module working with the robot's existing controller.
PDoA/AoA Relative Direction MeasurementThe proposed antenna arrangement estimates target range and bearing, with stated output up to 100Hz and angular accuracy better than ±5° under its test conditions. Optional IMU fusion and prediction support continuity during brief interruptions, subject to system validation.
Two Operating Modes:Following mode tracks the person. For other moves or recovery tasks, a supported remote or application interface provides manual control; independent navigation requires the robot's separate navigation system.
Supported ROS/ROS2 drivers and CAN/serial protocols provide integration interfaces for robot developers.
The case description reports following, integration and motion outcomes:
Following PerformanceIt reports angular error within ±5°, approximately threefold improvement over its RSSI comparison, 60% less tracking oscillation and target loss decreasing from 15% to under 2% in the described tests.
Integration EfficiencyReported integration decreased from four–six weeks to under one week, approximately 80%, using standardized drivers and protocols with a removable module installation.
Motion SafetyThe case reports obstacle response below 0.3 seconds, no collisions during its evaluation and emergency-stop success above 99%. Vehicle-level acceptance remains application-specific.
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