基于UWB的自主跟随机器人系统设计  

Design of Autonomous Following Robot System Based on UWB

作　　者：杨再标 易先军[1] 彭萌 耿翰夫 付龙 YANG Zai-biao;YI Xian-jun;PENG Meng;GENG Han-fu;FU Long(School of Electrical and Information Engineering,Wuhan Institute of Technology,Wuhan 430205,China)

机构地区：[1]武汉工程大学电气信息学院,武汉430205

出　　处：《自动化与仪表》2020年第3期37-40,共4页Automation & Instrumentation

基　　金：湖北省大学生创新创业训练计划项目(201810490035);武汉工程大学校长基金资助项目(2019046)。

摘　　要：针对传统自主跟随机器人采用摄像头图像识别的方法存在跟随对象容易丢失的问题,该文研究并设计了一种基于UWB的自主跟随机器人系统。自主跟随机器人采用双边双向测距(SDS-TWR)的算法计算出标签到基站之间的距离,再通过反余弦定理求出标签和基站之间形成的角度,并将角度和距离信息形成的融合信息通过串口发送给主控制器,通过主控制器对获取的融合信息进行处理,完成跟随目标对象的任务。实践证明,在利用角度大小跟随中,通过减少跟随边长误差,进而减小跟随角度误差,以提高自主跟随机器人的跟随精度,实现自主跟随机器人系统在人员移动密集的环境下对目标对象实时地、准确地跟随。Aiming at the problem that the traditional auto-following robot adopts camera image recognition,the following objects are easy to lose,a UWB-based auto-following robot system is researched and designed. The autonomous following robot calculates the distance between the tag and the base station using the algorithm of bilateral two-way ranging(SDS-TWR),and then uses the arc cosine theorem to find the angle formed between the tag and the base station,and fuses the angle and distance information. The information is sent to the main controller through the serial port,and the obtained fusion information is processed by the main controller to complete the task of following the target object. Practice has proved that,in the use of angular size following,by reducing the following edge length error,thereby reducing the following angle error,in order to improve the following accuracy of the autonomous following robot,the autonomous following robot system can achieve the target object in real-time in the environment of dense movement of people. Follow exactly.

关 键 词：UWB 自主跟随 双边双向测距 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]