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Paper Abstract and Keywords
Presentation 2026-06-01 15:20
[Invited Talk] Sequential Multi-location Navigation of Autonomous Mobile Robots Using IR-UWB Ranging
Huan-Bang Li (NICT), Yosuke Takiguchi, Chitake Karaki (TECHNO RYOWA), Takeshi Matsumura (NICT) WBS2026-7 RCC2026-7 MICT2026-7
Abstract (in Japanese) (See Japanese page) 
(in English) We developed an autonomous navigation control system using impulse radio ultra wideband (IR UWB). In the proposed system, an AMR is equipped with two IR UWB devices. Using the inter-device distance d, the vertical distance h from the AMR’s rotation center to the line between the two IR-UWB devices, and the distances r_1 and r_2 to an IR-UWB device placed at a designated location, we propose a geometric method to compute the bearing angle θ and distance R to the designated location. The only prior information required by this method is the inter-device distance d and the vertical distance h; no other prior preparation is necessary. Furthermore, to mitigate the effects of multipath propagation of IR-UWB signal, an adaptive transmission power control scheme is incorporated into the system. Through autonomous navigation experiments using an actual AMR platform, the effectiveness of the proposed navigation control method is experimentally demonstrated.
Keyword (in Japanese) (See Japanese page) 
(in English) IR-UWB / autonomous mobile robot (AMR) / autonomous moving control / adaptive transmit power control / / / /  
Reference Info. IEICE Tech. Rep., vol. 126, no. 47, RCC2026-7, pp. 27-32, June 2026.
Paper # RCC2026-7 
Date of Issue 2026-05-25 (WBS, RCC, MICT) 
ISSN Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF WBS2026-7 RCC2026-7 MICT2026-7

Conference Information
Committee RCC MICT WBS  
Conference Date 2026-06-01 - 2026-06-02 
Place (in Japanese) (See Japanese page) 
Place (in English) Yokosuka Research Park(YRP) 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Reliable Communication and Control, Healthcare and Medical Information Communication Technologies, Coding, Modulation, Signal processing and General 
Paper Information
Registration To RCC 
Conference Code 2026-06-RCC-MICT-WBS 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) Sequential Multi-location Navigation of Autonomous Mobile Robots Using IR-UWB Ranging 
Sub Title (in English)  
Keyword(1) IR-UWB  
Keyword(2) autonomous mobile robot (AMR)  
Keyword(3) autonomous moving control  
Keyword(4) adaptive transmit power control  
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1st Author's Name Huan-Bang Li  
1st Author's Affiliation National Institute of Information and Communications Technology (NICT)
2nd Author's Name Yosuke Takiguchi  
2nd Author's Affiliation TECHNO RYOWA LTD. (TECHNO RYOWA)
3rd Author's Name Chitake Karaki  
3rd Author's Affiliation TECHNO RYOWA LTD. (TECHNO RYOWA)
4th Author's Name Takeshi Matsumura  
4th Author's Affiliation National Institute of Information and Communications Technology (NICT)
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Speaker Author-1 
Date Time 2026-06-01 15:20:00 
Presentation Time 50 minutes 
Registration for RCC 
Paper # WBS2026-7, RCC2026-7, MICT2026-7 
Volume (vol) vol.126 
Number (no) no.46(WBS), no.47(RCC), no.48(MICT) 
Page pp.27-32 
#Pages 6 
Date of Issue 2026-05-25 (WBS, RCC, MICT) 

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