Research on the Positioning Method of Autonomous Mobile Robot in Structure Space Based on UWB

摘要

Positioning is the most basic and important premise to ensure that a robot moves independently in the working environment. In this paper, the positioning technologies of indoor autonomous mobile robots are studied. The studies focus on the positioning methods based on wireless radio frequency technology according to the different positioning technologies and sensors. UWB is finally determined as a method for positioning the absolute coordinate in indoor 2D space, based on comprehensive analysis and the characteristics of indoor independent space. Specifically, the asymmetric two-way ranging (ADS-TWR) technology is adopted. The fixed positioning random error is less than 10 cm in an open environment and non-remote region with the multi-base station fusion positioning method. The average error is less than 5cm after processing by sliding window filtering algorithm. When the amplifier power is increased, the coverage distance of the base station can reach 200m to ensure the signal strength, anti-interference performance and low packet loss rate.