机器人超宽带室内定位系统的研究

Research on Robot Ultra-wideband Indoor Positioning System

针对传统移动机器人室内定位,采用摄像头、激光扫描仪即时定位并建立局部地图的计算量大、实时性较差、成本较高的问题,研究并设计了基于超宽带技术的机器人室内定位系统。该系统由控制器利用到达时间算法控制标签,测量与各基站的距离,采用三边定位法计算出机器人位置,并通过串口将位置信息发送给主控制器。主控器根据位置信息规划机器人运动路径,并通过无线模块将机器人位置、速度等信息上传到手机应用端进行存储或显示。实践证明,手机应用端可以在对应的地图上显示机器人移动轨迹,该系统定位精度在±10 cm以内,能为室内机器人提供定位服务。

Aiming at the problems of large amount of calculation,poor real-time performance and high cost of establishing local map by using camera and laser scanner for indoor positioning of traditional mobile robot,the indoor positioning system of robot based on ultra wideband technology is studied and designed. In this system,the controller uses the arrival time algorithm to control the tag to measure the distance from each base station,uses the trilateral positioning method to calculate the robot position,and sends the position information to the main controller through the serial port. The master controller plans the robot’s motion path according to the position information,and uploads the robot’s position,speed and other information to the mobile phone application through the wireless module for storage or display. It has been proved that the mobile application can display the robot’s moving track on the corresponding map,and the positioning accuracy of the system is within ±10 cm,which can provide positioning services for indoor robots.