基于UWB定位的空地协同系统  

An air-to-ground cooperative system based on UWB positioning

作　　者：陈万著 陈国庆 聂钰薇 王鹏[1] CHEN Wanzhu;CHEN Guoqing;NIE Yuwei;WANG Peng

机构地区：[1]桂林电子科技大学电子信息学院,广西北海536000

出　　处：《智能城市》2025年第1期10-12,共3页Intelligent City

基　　金：自治区级大学生创新创业训练计划项目(S202310595347)。

摘　　要：文章设计了一种基于超宽带(UWB)的可跟随人体的空地协同系统。通过使用UWB模块搭建基站,并在人体、无人机与小车上贴上标签,进而获取机器人与人体的坐标,实现人体与机器人在区域内的全局定位。通过计算三者的坐标差,设计控制器将坐标关系换算成机体速度关系,并进行运动学逆解以得到电机输出,使机器人与小车能够进行全向移动,协助使用者工作。此外,无人机与小车上搭载迷你PC运行机器人操作系统(ROS),用于激光雷达数据采集并利用gmapping进行建图,实现实时避障功能。The paper designed a UWB based ground to air collaborative system that can follow the human body.By using UWB modules to build base stations and labeling them on human bodies,drones,and vehicles,the coordinates of robots and humans can be obtained,achieving global positioning of humans and robots in the area.By calculating the coordinate difference between the three,a controller is designed to convert the coordinate relationship into the velocity relationship of the body,and perform inverse kinematics to obtain the motor output,enabling the robot and the car to move in all directions and assist the user in their work.In addition,the drone and the car are equipped with mini PCs running the robot operating system for laser radar data acquisition and mapping using gmapping,achieving real-time obstacle avoidance function.

关 键 词：UWB 运动学逆解 避障跟随 建图导航 

分 类 号：TP271[自动化与计算机技术—检测技术与自动化装置]