An Indoor Navigation System for the Visually Impaired based on UWB Positioning and D* Lite Path Planning Algorithm

Thanh C. Vo; Dong LT. Tran; Huy HM. Le; Duyen N Ha; Tuan Anh Pham; Hai Thanh Dang; Hoang T. Tran

An Indoor Navigation System for the Visually Impaired based on UWB Positioning and D* Lite Path Planning Algorithm

Robotics 2026-07-18 v1 Systems and Control

Authors: Thanh C. Vo , Dong LT. Tran , Huy HM. Le , Duyen N Ha , Tuan Anh Pham , Hai Thanh Dang , Hoang T. Tran

Abstract

This paper proposes an indoor navigation system for the visually impaired, leveraging Ultra-Wideband (UWB) positioning technology and the D*Lite path planning algorithm. The system utilizes UWB sensors to provide precision localization in GPS-denied environments. The D* Lite algorithm is integrated to optimize travel trajectories and ensure rapid route re-planning in the presence of dynamic obstacles. Experimental results demonstrate that the system operates reliably with low latency, providing safety and flexibility for users in complex indoor spaces.

Cite

@article{arxiv.2607.16614,
  title  = {An Indoor Navigation System for the Visually Impaired based on UWB Positioning and D* Lite Path Planning Algorithm},
  author = {Thanh C. Vo and Dong LT. Tran and Huy HM. Le and Duyen N Ha and Tuan Anh Pham and Hai Thanh Dang and Hoang T. Tran},
  journal= {arXiv preprint arXiv:2607.16614},
  year   = {2026}
}

Comments

6 pages, 7 figures, 3 tables