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The Design of Indoor Mobile Robot Navigation System Based on UWB Location
- Source :
- 2018 Eighth International Conference on Instrumentation & Measurement, Computer, Communication and Control (IMCCC).
- Publication Year :
- 2018
- Publisher :
- IEEE, 2018.
-
Abstract
- Aiming at the positioning and navigation system of indoor mobile robot, a fuzzy control method of indoor location navigation based on UWB communication technology is proposed. Firstly, based on the UWB radio signal, the mobile robot localization information is obtained by the twice triangular centroid localization algorithm, and the reactive fuzzy controller is used to realize the local path planning. An improved contour following method is proposed to make the mobile robot get out of the trap area quickly and reach the target. This method can effectively drive the mobile robot to reach the target in a complex and unknown environment with reasonable path. Finally, a fourwheel indoor mobile robot is taken as an example in the indoor environment of 10m × 10m. The experiment proves that the method can effectively drive the mobile robot to reach the target point in the unknown environment with the better path.
- Subjects :
- 0209 industrial biotechnology
Computer science
Real-time computing
Navigation system
Mobile robot
02 engineering and technology
Fuzzy control system
Fuzzy logic
Mobile robot navigation
020901 industrial engineering & automation
Control theory
Path (graph theory)
0202 electrical engineering, electronic engineering, information engineering
020201 artificial intelligence & image processing
Motion planning
Subjects
Details
- Database :
- OpenAIRE
- Journal :
- 2018 Eighth International Conference on Instrumentation & Measurement, Computer, Communication and Control (IMCCC)
- Accession number :
- edsair.doi...........9b8002aeda4e2ebb96aafe526c0d2c56