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
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