Research On Complete Coverage Path Planning Of Mobile Robot Based On UWB Location

At present,the application of mobile robots in the consumer field is rapidly increasing,and related technical issues have gradually become research hotspots.Path planning and positioning are two key technologies of lawn management robots,cleaning robots and monitoring robots.They are also the prerequisites for achieving high intelligence and high work efficiency of mobile robots.Therefore,this paper will study the two key technologies of path planning and positioning in intelligent mobile robots.First,for environmental modeling problems,methods such as raster map method and cell decomposition method that can mathematically model the robot's work area are discussed.And map information is mathmaticalized.For path planning problems,the A star search algorithm and rapidly-exploring Random trees algorithm commonly used in point-to-point path planning are discussed,and the spiral and biologically inspired neural network algorithms commonly used in complete coverage path planning are discussed.It provides a basis for subsequent research.Secondly,based on raster-map biologically inspired neural network complete coverage path planning algorithm,in order to solve the problems such as high path repetition rate and poor regularity generated by the algorithm.A moving rule method is proposed to ensure the regularity of the generated path.For the problem of the mobile robot's dead zone escape,combined with the actual background,the A star search algorithm was introduced and improved to plan the optimal escape route;the improved complete coverage path planning algorithm was simulated on the MATLAB platform.The simulation results show that the improved algorithm has better performance indicators.Then,in order to solve the problem of two-dimensional plane positioning,a wireless positioning system was designed using four UWB modules with three base stations and one tag.The communication principle and positioning ranging algorithm of UWB module were described.The algorithm process of DS-TWR was improved,increasing the ACK data packet from the receiving end to the transmitting end,so that the ranging can be solved at the transmitting end;adding the primary and secondary base station ranging data communication,so that the positioning can be solved at the primary base station.Use VS to develop the UWB upper computer positioning system,design parameter configuration and other function interfaces,and communicate with each UWB device through the Modbus protocol,achieving the coordinate calculation of the tag position and display of the movement trajectory,completing the positioning of the robot.Finally,the mobile robot platform was used to carry out the ranging,positioning of the UWB device and complete coverage path planning experiments of the robot.The experimental results show that based on the improved complete coverage path planning algorithm,the two-dimensional planar positioning scheme of UWB three base stations and one label,and the experimental platform in this paper,the mobile robot can complete the complete coverage task of the specified work area.