The Design And Realization Of Robot's Location And Motion Monitoring Based On UWB

With the continuous development of intelligent equipment,the demand for intelligent robot(IR)is also changing.Users prefer to have robots with more flexibility,convenience,which can be supported by various platforms as well.Today,IR has been widely used in industry,aerospace,services and other fields.The design in this article aims to take the service robot as the research background,introducing a new indoor position system-Ultra Wideband.We can monitor the robot's position real-time through communicating,and design the wireless module to control its movement.Also,a variety of path planning algorithms are studied here and simulations are realized correspondingly.Combined with the robot motion,this project completes the task of robot's self-navigation and self-correcting.The main work contents and innovations in this project are as follows:1.UWB positioning technology and its positioning method are studied in depth.Today,Wi-Fi,Bluetooth and other indoor positioning technology have been used widely,but they have different drawbacks in communication distance,power consumption,accuracy and other fields.This paper introduces Ultra-Wideband(UWB)location technique,which has low power consumption,strong confidentiality,good penetration and other strengths as its ultra-wideband characteristics,no carrier signal transmission.This paper deeply studies the UWB positioning technology,and analyzes various positioning methods such as TOA and TDOA.2.Designing the display control platform to monitor the robot's movement trajectory in real time.The platform is designed based on the framework of WPF.The communication with the positioning engine is completed through UDP protocol,which can help us to obtain the data from the tag which is attached on the robot.After a series of process,the position can be displayed on the platform in the form of coordinates,and it would be shown in the coordinate map in different ways,such as single-point,continuous-trajectory and so on.At the same time,the data information is stored and the loading function is designed to facilitate the analysis of the robot position information in the experiment.3.Environment modeling and the path planning algorithm is studied and simulated.In this paper,we use the grid map to realize the environment modeling.The BFS algorithm,Dijkstra algorithm and A*algorithm are studied and simulated with C#,and they are compared as well.In the A*algorithm,a heap optimization method is used to reduce the time complexity of the algorithm.4.Wireless communication module is designed to control the robot movement.The design uses wireless communication mode to realize the communication with the robot.The wireless module is designed on the display control platform,which can control the robot motion and achieve its status query with a certain communication protocol.In addition,for the convenience of operation,the communication protocol is encapsulated and the keyboard control mode is designed.5.Robot's motion control.Combining the path planning and robot's movement can realize the robot's self-navigation and self-planning function.But in the actual experiment,as the robot's two wheels have different air pressure,battery voltage and other reasons,the actual driving distance is different from the planning one.In this design,a closed-loop control module is added to control the path which is approaching to the correct simulation by judging the distance between the current position of the robot and the planning point.In order to test the positioning accuracy of the UWB system platform,the accuracy measurement and data analysis are carried out.Meanwhile,in order to verify whether the robot's trajectory is in accordance with the planning path,the project also conducts the corresponding experiment.The experimental results show that the system accuracy is controlled within a certain range,and the robot can complete the planning path.