Tracking a Mobile Robot in a UWB-sensor Grid

This work presents the development of a tracking system for a three-wheeled omnidirectional mobile robot. This kind of robot can perform rotation and translation in any pose. The arc-length segment described by the omni-wheels controls the trajectory of the robot. We present a simplified kinematic model in state-space. The observation system is based on an UltraWide Band ranging sensor. Finally made the state estimation using some classic positioning algorithms and compare the results against Finite Impulse Response Filter state estimators.