The Design of Indoor Mobile Robot Navigation System Based on UWB Location

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 fourwheel indoor mobile robot is taken as an example in the indoor environment of 10m × 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.