TY - THES A1 - Bin Amirmudin, Mohamad Faris T1 - Design and evaluation of ultra wideband for localization of mobile robots N2 - Nowadays with satellite communication, global positioning system (GPS) is widely used in variety of applications such as object tracking and path planning. Satellite also provides high accuracy when pinpointing an object due to the clear path between the satellite and the object. This communication however cannot be utilized for indoor localization due to the signal incapability of penetrating through building. With the rise of robot automation, the demand for a real time and accurate indoor positioning system is increasing. Therefore a new localization system based on a different technology is needed to provide a better and more reliable estimation of a moving object in indoor environment. In this thesis, Ultra Wideband (UWB) technology is implemented due to its unique charateristics and accuracy that is advertised to be below 10 cm. UWB has a short duration pulse and high data rate which makes transmission of data faster compared to other technology. It can also penetrated through object which makes it suitable for indoor positioning. The result and endproduct of this project is a working indoor positioning system with an accuracy of 20 cm in LOS and 35 cm in NLOS environment. 2D localization conducted on a static tag results in an accuracy of 10 cm whereas for 3D localization performed on a moving tag, the accuracy ranges between 10 cm and 20 cm in LOS environment. The accuracy however degrades by 15 cm in NLOS environment. Y1 - 2022 UR - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:573-34887 CY - Ingolstadt ER -