Ultra-wideband (UWB) technology is one of the most promising wireless communication technologies. Examples of UWB applications include, among others, radiocommunication devices and location systems, due to their operating range, ability to work in outdoor environments, and resistance to multipath effects. This article focuses on the use of UWB technology in constructing a guide localization system for an unmanned ground vehicle (UGV), which is one of the stages of implementing a “follow me” system. This article describes the complete process of UWB signal processing from its acquisition, methods of filtering, and obtained results, to determining the location of the guide. This article examines the possibility of using modified versions of localization algorithms for determining the guide’s location, including trilateration, methods of nonlinear programming, and a geometric algorithm proposed by us. The innovation of this study consists in the implementation of an algorithm that changes the selection of equations (mathematical model) for determining location based on the number of available measurements from UWB sensors.

The work presents the dynamic equations of motion of a unmanned six-wheeled vehicle with mecanum wheels for rescue applications derived with the of Lagrange equations of the second kind with multipliers. Analysed vehicle through using mecanum wheels has three degrees of freedom and can move on a flat ground in any direction with any configuration of platform’s frame. In order to derive dynamic equations of motion of mentioned object, kinetic potential of the system and generalized forces affecting the system are determined. The results of a solution of inverse dynamics problem are also published.

Unmanned Ground Vehicles (UGV) are devices capable of performing basic working movements without the operator being in their immediate working environment. Their capabilities include but are not limited to the perception of the environment with the use of sensors, determining the platform’s position, and planning and executing its movement. Ultra Wideband (UWB) is one of the wireless communication technologies which is increasingly used in location systems. This article presents the use of UWB technology in developing a guide localization system for a UGV (one of the stages of implementing a follow-me system). The article describes tests carried out on the developed testbed. Their aim was to determine the hardware configuration of the anchor arrangement characterized by the minimum number of lost data packets during operation. In order to determine the influence of the analysed variables on the output values, the method of global sensitivity analysis for neural networks was used.

Unmanned ground vehicles (UGVs) are technically complex machines to operate in difficult or dangerous environmental conditions. In recent years, there has been an increase in research on so called “following vehicles”. The said concept introduces a guide—an object that sets the route the platform should follow. Afterwards, the role of the UGV is to reproduce the mentioned path. The article is based on the field test results of an outdoor localization subsystem using ultra-wideband technology. It focuses on determining the guide’s route using a smoothing spline for constructing a UGV’s path planning subsystem, which is one of the stages for implementing a “follow-me” system. It has been shown that the use of a smoothing spline, due to the implemented mathematical model, allows for recreating the guide’s path in the event of data decay lasting up to a several seconds. The innovation of this article originates from influencing studies on the smoothing parameter of the estimation errors of the guide’s location.

This paper presents method of selection of configuration for manipulators of portable robots for special purposes. On the example of the portable PIAP Patrol robot, the analysis of tasks and related requirements for the functionality of the manipulator was presented. With the use of multi-criteria optimization tools, the selection of the manipulator configuration parameters was carried out, which leads to the maximization of selected working capacities while ensuring that the imposed requirements and mass and kinematic limitations are met. The results of simulation tests were presented and the scope of further work was outlined.

UWB (Ultra Wideband) is one of the wireless data transmission techniques in which signal is emitted in a very wide frequency band opposed to narrowband radio-communication systems The location detection using the UWB can ensure high location accuracy. The most commonly used methods for determining position in wireless systems: RSS (Received Signal Strength), AOA (Angle of Arrival), TOA (Time of Arrival), TDOA (Time Difference of Arrival). The paper presents a theoretical analysis of determining the location of an static object based on geometric multilateration and modified geometric trilateration techniques.