Positioning and navigation control method of indoor mobile robot based on UWB

Abstract

The invention discloses a positioning and navigation control method of an indoor mobile robot based on UWB. The method comprises the steps UWB signal flight time is obtained independently through UWB communication chips arranged on tags and base stations, and then the flight time is multiplied by signal propagation speed so that the distance between one single tag and one single base station can be obtained; the tags are positioned by adopting a TOF positioning method, and distance measurement is performed through the UWB signal flight time according to the set mechanism; when the effective distances between the tags and four base stations (including one communication base station) are obtained, the three distances with the high credibility are selected, the coordinates of each base state are used as a circle center, the corresponding distance is used as a radius, and the coordinate position of the corresponding tag is calculated by means of the circle intersection point. By means of the UWB technology, wireless positioning control over the indoor robot is performed, and the higher positioning precision and stability can be obtained on the basis of the advanced distance measurement method.

Description

technical field [0001] The invention belongs to the field of indoor robot communication technology and control technology, and in particular relates to a UWB-based indoor mobile robot positioning and navigation control method. Background technique [0002] With the further development of the social economy and the further improvement of the level of industrial automation, the service of mobile robots has penetrated into all aspects of social production. [0003] At present, indoor mobile robots mainly rely on AGV cars to realize. There are two main ways of AGV path control: track guidance and vision guidance. Track guidance needs to lay tracks on the job site to guide the trolley. The disadvantages of this path control method are: (1) The laying of the track makes the path of the AGV trolley in the industrial job site less flexible, and the change of the processing technology requires the user to change the laid track; (2) For the complex path or cross path of multiple mob...

AI Technical Summary

Problems solved by technology

Track guidance needs to lay tracks on the job site to guide the trolley. The disadvantages of this path control method are: (1) The laying of the track makes the path of the AGV trolley in the industrial job site less flexible, and the change of the processing technology requires the user to change the laid track; (2) For the complex path or cross path of multiple mobile robots, the way of laying the track cannot guide the AGV car

The visual guidance method is to use the positioning principle based on the image background to guide the car to move forward. There are deficiencies: (1) The position accuracy error is large; (2) The change of the working environment requires rearranging the image background

At present, there are many wireless positioning technologies, including Wifi, RFID, ultrasonic and Bluetooth, etc. The characteristics of various positioning technologies are shown in Table 1. However, there is a common problem in their positioning implementation-the positioning accuracy is at the meter level, which is precisely this problem The existence of wireless location technology limits the application of wireless positioning technology in indoor environment

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