The design of indoor mobile robot navigation system based on UWB location

被引：0
|
作者：
Yong, Lv [1 ]
Ping, Jiang [1 ]
机构：
[1] Nantong Univ, Sch Elect Engn, Nantong, Peoples R China
来源：
2018 EIGHTH INTERNATIONAL CONFERENCE ON INSTRUMENTATION AND MEASUREMENT, COMPUTER, COMMUNICATION AND CONTROL (IMCCC 2018) | 2018年
基金：
中国国家自然科学基金;
关键词：
UWB; positioning navigation; fuzzy controller; improved contour following method;
D O I：
10.1109/IMCCC.2018.00077
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Aiming at the positioning and navigation system of indoor mobile robot, a fuzzy control method of indoor location navigation based on UWB communication technology is proposed. Firstly, based on the UWB radio signal, the mobile robot localization information is obtained by the twice triangular centroid localization algorithm, and the reactive fuzzy controller is used to realize the local path planning. An improved contour following method is proposed to make the mobile robot get out of the trap area quickly and reach the target. This method can effectively drive the mobile robot to reach the target in a complex and unknown environment with reasonable path. Finally, a four-wheel indoor mobile robot is taken as an example in the indoor environment of 10m x 10m. The experiment proves that the method can effectively drive the mobile robot to reach the target point in the unknown environment with the better path.
引用
收藏
页码：334 / 338
页数：5
相关论文
共 50 条
  • [1] UWB location system for indoor navigation
    Park, OS
    Kim, SH
    Ahn, JM
    [J]. ICWN'04 & PCC'04, VOLS, 1 AND 2, PROCEEDINGS, 2004, : 563 - 566
  • [2] Design of a Hybrid Indoor Location System Based on Multi-Sensor Fusion for Robot Navigation
    Shi, Yongliang
    Zhang, Weimin
    Yao, Zhuo
    Li, Mingzhu
    Liang, Zhenshuo
    Cao, Zhongzhong
    Zhang, Hua
    Huang, Qiang
    [J]. SENSORS, 2018, 18 (10)
  • [3] Indoor mobile robot navigation system architecture
    Louchene, A
    Bouguechal, NE
    [J]. ROBOTICS, AUTOMATION AND CONTROL AND MANUFACTURING: TRENDS, PRINCIPLES AND APPLICATIONS, 2002, 14 : 335 - 340
  • [4] Autonomous indoor navigation system of mobile robot
    Zhai, Jingmei
    Liu, Kun
    Xu, Xiao
    [J]. Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS, 2020, 26 (04): : 890 - 899
  • [5] Indoor location method based on UWB and inertial navigation fusion
    Liang, Yan
    Zhang, Qingdong
    Zhao, Ning
    Li, Chuanmiao
    [J]. Hongwai yu Jiguang Gongcheng/Infrared and Laser Engineering, 2021, 50 (09):
  • [6] Mobile robot indoor navigation
    Cernohorsky, Josef
    Novak, Miroslav
    [J]. PROCEEDINGS OF THE 2016 17TH INTERNATIONAL CARPATHIAN CONTROL CONFERENCE (ICCC), 2016, : 151 - 155
  • [7] Indoor navigation of a mobile robot
    Han, MW
    Kopacek, P
    [J]. ISIE 2001: IEEE INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS PROCEEDINGS, VOLS I-III, 2001, : 1919 - 1922
  • [8] A Navigation System for Family Indoor Monitor Mobile Robot
    Tan, Fusheng
    Yang, Jun
    Huang, Jianming
    Jia, Tinggang
    Chen, Weidong
    Wang, Jingchuan
    [J]. IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010,
  • [9] Indoor Mobile Robot Socially Concomitant Navigation System
    Zhang, Rui
    Jiang, Wanyue
    Zhang, Zhonghao
    Zheng, Yuhan
    Ge, Shuzhi Sam
    [J]. SOCIAL ROBOTICS, ICSR 2022, PT I, 2022, 13817 : 485 - 495
  • [10] Developing Design of Mobile Robot Navigation System Based on Android
    Yatmono, Sigit
    Muhfizaturrahmah
    [J]. PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON TECHNOLOGY AND VOCATIONAL TEACHERS (ICTVT 2017), 2017, 102 : 98 - 100
12345