Navigation of the mobile robots using the RTLS technology implemented in the ROS

The paper deals with application possibilities of indoor RTLS (real-time location system) mobile robot navigation. The aim is to point out one of the possibilities of practical RTLS implementation in practice. The work describes the connection procedure between localization technology and the TurtleBot2 mobile robot in the ROS (Robot Operating system) environment. The first part of the work is focused on configuration of the selected RTLS technology, which works on the UWB (ultra-wideband) principle. The configuration as well as the subsequent location data acquisition are already implemented in ROS. The second part of the work deals with TurtleBot2 navigation based on the obtained location data. At the end of the paper are the results summarized obtained in the premises of a robotic laboratory.