摘要
传统移动机器人室内定位采用激光扫描仪、摄像头,激光SLAM、视觉SLAM计算复杂,实时性较差,并且成本较高。本文将UWB定位技术应用于移动机器人室内定位,采用到达时间差法TDOA实现UWB定位,构建了基于UWB技术的移动机器人定位平台,软硬件自主开发,通过实践证明,本系统具有很好的可靠性和可行性,定位精度在±5cm以内。
The traditional mobile robot indoor location uses laser scanners and cameras.The laser SLAM and visual SLAM need complex calculations,and have less real-time and higher cost.In the paper,the UWB location technology is used to realize the indoor location of mobile robots,and the TDOA is used to achieve UWB positioning.The location platform of mobile robot based on UWB technology is established.The software and hardware are independently developed.The experiment results prove that the system has good reliability and feasibility.The location accuracy is within±5 cm.
作者
范烨
陈秋霞
倪丽慧
Fan Ye;Chen Qiuxia;Ni Lihui(School of Information Science and Techndagy,Zhejiang Shuren University,Hangzhou 310015,China;St ubli(Hangzhou)Precision Machinery Electronics Co.,Ltd.)
出处
《单片机与嵌入式系统应用》
2018年第11期48-50,54,共4页
Microcontrollers & Embedded Systems
基金
浙江省青年自然基金资助项目(Q18F030013)
