Study On Shopping Guide Robot Based On UWB Indoor Localization

Shopping guide robot,receptionist robot,interpretive robot is more and more coming into our daily life,with the continuous development of robot technology,and people in constant pursuit of high quality life.This kind of service robot is the main application scenarios of the shopping malls,supermarkets,museums and other indoor environment.Indoor positioning and navigation technology is the key technology.It is also a research hotspot in the field of service robots.At present,the shopping robot,guide robot,interpretive robot,and so on mainly adopts the orientation of magnetic stripe and two-dimensional code and the orientation of laser positioning,vision etc.Magnetic stripe and two-dimensional code positioning way need to be ground laid a magnetic stripe or two-dimensional code,there are easy to damage,maintenance difficulties,destroy the market overall image defects.Laser and visual locating method are not independent positioning,hard to adapt environment for goods shelves position change often,arrangement of a large number of glass window shopping environment.Aiming at the problems above,this paper studies a kind of guide robot based on UWB wireless positioning technology.The study is divided into four parts:1.A design of mobile robot mechanism for indoor unstructured environment.This paper proposes a seesaw type robot chassis suspension mechanism,guide for unstructured environment of the robot.Make the robot to bump and width of 15 mm height 10 mm groove has good capability of obstacle surmounting,thus ensuring the stability of the unstructured environment indoors mobile ability.Based on this,the design the robot mechanical structure parameters of the key components,finally has carried on the overall design.2.Study guides the robot based on UWB indoor positioning method and simulation analysis.The guide robot usage scenarios are analyzed.There are easy to damage,maintenance difficulties,shortcomings destroy the market overall image,etc,for magnetic stripe and two-dimensional code positioning way.Laser and visual positioning way is unable to adapt to the constantly changing external environment,shortcomings and so on can't identify the glass window.Indoor positioning system based on UWB is designed.The joint Chan algorithm of Kalman filter is studied.The simulation results verify the performance of the localization algorithm.3.Research on robot path tracking control method.First,establish mobile robot kinematics model based on indoor localization system.Then,the path tracking control method based on PID-LQR is proposed after compare the advantages and disadvantages of the traditional PID control and LQR control.And the simulation experiments of the proposed tracking algorithm are designed.4.Design of robot motion control system and the experimental research.Autonomous mobile robot chassis,UWB localization system,the robot motion control system were designed.And form a complete system for mobile robot.After that,write positioning system software and the path tracking control algorithm,and completed robot indoor location and path tracking experiments.The experimental results show that the design of the indoor localization system has great precision no matter in static or dynamic circumstances.In the structured indoor environment,the precision can reach±15cm.Simulation and experimental results show that the PID-LQR path tracking control method proposed can effectively track the straight path.