UWB定位的智能小车避障技术研究

Research on Intelligent Car Obstacle Avoidance Technology Based on UWB Position

本文以小车为研究对象,对其室内定位、无线视频传输和避障技术进行了研究,构建了一个由一标签、三基站组成的室内超宽带无线定位系统,利用TOF方法测距从而实现自主定位。研究了超声波与红外相结合的多传感器避障技术与算法,在避障算法方面通过障碍物和小车的位置关系确定避障方向。借助WiFi通信技术实现树莓派与上位机之间的视频传输,开发了上位机软件显示小车位置坐标以及传输的视频。

In this paper,the indoor positioning,wireless video transmission and obstacle avoidance technology of the car are studied.An indoor UWB wireless positioning system composed of one tag and three base stations is constructed,and the location is realized by TOF method.The multi-sensor obstacle avoidance technology and algorithm based on the combination of ultrasonic and infrared are studied.In the aspect of obstacle avoidance algorithm,the direction of obstacle avoidance is determined by the position relationship between obstacle and car.Video transmission between raspberry pie and host computer is realized by means of WiFi communication technology.The upper computer software is developed to display the car position coordinates and the transmitted video.