Research On Technologies Of IMU/UWB/Encode Integrated Navigation For Mobile Robots

As the key to realize the intelligent mobile robots,integrated navigation technology for mobile robots has been attracted more and more attention of scholars at home and abroad,especially for the navigation of mobile robots in complex indoor conditions,has gradually become a hot research topic in this field.In this thesis,the indoor mobile robots are used as the research object,with the widely application of mobile robots as the engineering background,this paper focuses on the research of mobile robots' navigation and localization in the indoor environment,which is based on the acquisition of the position information of the mobile robots.Aiming at the shortcomings of single navigation methods such as inertial navigation and ultra-wideband positioning technology,this thesis proposes the loosely coupled and tightly coupled methods for mobile robots' navigation positioning which are based on IMU/UWB/Encode.The construction methods of integrated navigation model and the realization of data fusion method are also expounded in detail.On this basis,in order to verify the integrated navigation model and the performance of algorithm,we set up a mobile robots' experimental platform based on IMU/UWB/Encode,and developed the host computer software with data acquisition function.The experimental results show that the proposed loosely coupled and tightly coupled integrated navigation algorithm is more accurate than the single navigation technology.Compared with the UWB technology,the accuracy of IMU/UWB/Encode loosely coupled and tightly coupled integrated navigation algorithm proposed in this thesis is respectively improved by 12% and 24%.