UWB-Based Multi-Drone Collaboration System for Target Localization

Key Points

• This research aims to enhance the accuracy of target localization by mitigating limitations of existing drone technologies for search and rescue.
• Proposed a multi-drone collaboration system using UWB technology and RTK-GPS for accurate positioning.
• Drones act as mobile UWB anchors to detect signals from UWB tags.
• Utilized potential field and particle filter algorithms for optimal drone formation and target location determination.
• Conducted outdoor flight experiments on a PX4-ROS2 based drone platform.
• Achieved centimeter-level localization precision in wide-area environments without infrastructure support.
• Demonstrated effective configuration of drones forming optimized formations for precise targeting.

Abstract