[1]李龙委,胡海燕,章仁辉,等.基于UWB室内定位的迎宾机器人系统研究[J].机械与电子,2018,(12):58-63，68.
　LI Longwei,HU Haiyan,ZHANG Renhui,et al.Study on Receptionist Robot System Based on UWB Indoor Localization[J].Machinery & Electronics,2018,(12):58-63，68.
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基于UWB室内定位的迎宾机器人系统研究()
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机械与电子[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2018年12期
页码:
58-63，68
栏目:
智能工程
出版日期:
2018-12-24

文章信息/Info

Title:
Study on Receptionist Robot System Based on UWB Indoor Localization
文章编号:
1001-2257（2018）12-0058-06
作者:
李龙委1; 胡海燕1; 2; 章仁辉1; 李春光1; 2; 孙立宁1; 2
(1.苏州大学机电工程学院,江苏 苏州 215021 ;2.苏州纳米科技协同创新中心,江苏 苏州 215021 )
Author(s):
LI Longwei1;  HU Haiyan 1; 2;  ZHANG Renhui 1;  LI Chunguang 1; 2;  SUN Lining 1; 2
(1.School of Mechanical and Electric Engineering, Soochow University, Suzhou 215021, China; 2.Collaborative Innovation Center of Suzhou Nano Science and Technology , Suzhou 215021, China)
关键词:
UWB; 室内定位; 路径跟踪; 迎宾机器人
Keywords:
UWB;  indoor localization;  path tracking;  receptionist robots
分类号:
TP242
文献标志码:
A
摘要:
针对室内复杂环境下移动机器人很难实现精确定位的问题，设计了一种基于UWB室内定位的迎宾机器人系统。通过架设4个UWB定位基站，以及安装于机器人上方位置的定位标签，对迎宾机器人进行实时定位。介绍了迎宾机器人的总体结构，对其机械系统和控制系统进行了详细说明；提出了一种融合PID和LQR的移动机器人混合路径跟踪算法。最后对迎宾机器人进行实验，验证整体方案的可行性和有效性。实验结果表明，自主研制的机器人系统软硬件运行稳定可靠，设计的UWB室内定位系统具有小于5 cm的室内定位精度，重复精度小于1 cm；所提出的混合路径跟踪算法具有较快的响应速度，跟踪精度小于5 cm。
Abstract:
According to the difficulty of achieving precise positioning in complex indoor environment, a system of receptionist robot based on UWB (Ultra-wide Bandwidth) indoor localization was designed. Locating the robot was realized via four UWB base stations and the tag erected in the central part above the robot. The general structure of the robot was introduced, the mechanical system and the control system were described in detail. A mixed path tracking algorithm on account of PID and LQR (Linear Quadratic Regulator) was designed. At last, the experiment with the robot was made to verify the feasibility and effectiveness of the whole project. The experimental results show that the hardware and software run steadily, the error of the designed indoor localization system is less than 5cm and repeatability is less than 1cm. The mixed path tracking algorithm proposed has faster response speed and the tracking precision is less than 5cm.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2018-08-05
基金项目：国家高技术研究发展计划资助项目(2015AA042301)；国家自然科学基金资助项目(61203349)
作者简介：李龙委（1990-），男，河南周口人，硕士研究生，研究方向为自动控制技术；胡海燕（1982-），男，江苏苏州人，硕士研究生导师，研究方向为机器人技术；章仁辉（1993-），男，浙江温州人，硕士研究生，研究方向为机器人技术。
更新日期/Last Update: 2019-10-29