Reserch On Automatic Follow Control Of Mobile Robot Based On UWB Positioning Technology

With the rapid growth of the application field of service robots,the realization of autonomous navigation of mobile robots is the focus of society’s attention,among which the precise positioning system for indoor environments is the research focus.UWB ultra-wideband positioning technology has more advantages in the application field of indoor positioning technology because of its advantages such as high penetrating power,low power consumption,low technical difficulty,good confidentiality,and high positioning accuracy.The use of ultra-wideband technology can achieve twice the result with half the effort in terms of important material tracking and emergency accident site search.In this paper,the UWB positioning technology is used to enable the mobile robot to obtain the target person and its own position information,and to improve the wheeled mobile robot control and the TDOA algorithm used by UWB.The main research contents are as follows:First of all,the kinematics model of the wheeled mobile robot is modeled and analyzed,and a stabilization control rate and a following control rate are proposed to enhance the tracking effect of the wheeled mobile robot to the target point,and its feasibility is verified by simulation experiments.Secondly,compared with various UWB positioning algorithms,the TDOA algorithm with high precision,low energy consumption and economical benefits is selected for improvement.Due to the complexity of the real environment,NLOS errors are prone to occur during the UWB positioning process.In order to improve the accuracy of UWB positioning,this paper compares nonlinear target tracking filtering algorithms,including diffuse Kalman filter algorithm,unscented Kalman filter algorithm and particle filter algorithm.Through the comparison of simulation experiments,the particle filter has the best effect on nonlinear target tracking.And the improved particle filter algorithm is proposed to increase the particle diversity.Through the simulation experiment,the tracking accuracy of the nonlinear system is improved,so that the UWB positioning technology has a better positioning effect.Finally,using the algorithm proposed in this paper,the mobile robot automatic follow experiment was carried out in the ROS environment and the real scene respectively,the laboratory terrain was simulated,and the laser radar was used to scan the map and avoid obstacles,so that the mobile robot can be in a more complex environment.The real-time movement of the target person verifies the feasibility of the algorithm studied in this paper.