Indoor AGV (automatic guided vehicle) navigation control method based on UWB (ultra-wide bandwidth) positioning and dead reckoning

Abstract

The invention discloses an indoor AGV (automatic guided vehicle) navigation control method based on UWB (ultra-wide bandwidth) positioning and dead reckoning, which comprises a plurality of control steps: measurement of a distance between a single to-be-positioned node and a single reference node; measurement of distances between the to-be-positioned single node and multiple reference nodes; positioning of the to-be-positioned node; measurement of a course angle; measurement of an AGV driving distance; positioning navigation and combined positioning navigation of dead reckoning, wherein the to-be-positioned node is positioned by an inner quadrilateral centroid method, and signal flight time between the single to-be-positioned node and the multiple reference nodes is measured through a preset communicating mechanism, so as to calculate distances; finally, the positioning calculation is realized through the inner quadrilateral centroid algorithm; circles are drawn by respectively takingall the reference nodes as circle centers and taking the corresponding measured distances as radiuses; a quadrangle is formed by utilizing four close circle intersections; four vertexes of an inner quadrangle are calculated by positioning correction factors, so that estimated coordinates of the to-be-positioned node are calculated.

Description

technical field [0001] The invention belongs to the technical field of indoor robots, and in particular relates to an indoor AGV navigation control method based on UWB positioning and dead reckoning. Background technique [0002] With the further development of social economy and technological level, the level of industrial automation has been further improved, and the service of AGV has penetrated into every corner of society. [0003] At present, the path control of indoor AGV mainly has two methods: track guidance and vision guidance. Track guidance needs to lay tracks on the job site to guide the car forward. The disadvantages of this method are: (1) The laying of the track makes the path of the AGV car in the industrial job site less flexible, and the change of the processing technology requires the user to change the laid track; ( 2) For the complex path or cross path of multiple mobile robots, the way of laying the track cannot guide the AGV trolley. The visual guid...

AI Technical Summary

Problems solved by technology

Track guidance needs to lay tracks on the job site to guide the car forward. The disadvantages of this method are: (1) The laying of the track makes the path of the AGV car in the industrial job site less flexible, and the change of the processing technology requires the user to change the laid track; ( 2) For the complex path or cross path of multiple mobile robots, the way of laying the track cannot guide the AGV car

The visual guidance method uses the positioning principle based on the image background, and there are deficiencies: (1) The position accuracy error is large; (2) The calculation is large; (3) The change of the working environment requires rearranging the image background

At present, there are many wireless positioning technologies, including Wifi, RFID, ultrasonic and Bluetooth, etc. The positioning accuracy of various positioning technologies is relatively poor. It is the existence of this problem that limits the application of wireless positioning technology in indoor environments.

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