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UWB-positioning-based broadcast type multi-mobile-robot dynamic virtual interaction method

A mobile robot and virtual interaction technology, which is applied in the field of dynamic virtual interaction of multi-mobile robots based on UWB positioning broadcasting, can solve problems such as large data communication volume, high requirements for communication equipment, difficult system coordination and optimization, etc., and achieve high-efficiency solution and transmission, increase operating efficiency, and reduce burden

Active Publication Date: 2020-12-15
UNIV OF ELECTRONIC SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The traditional multi-mobile robot formation control methods are divided into two categories: centralized control and distributed control. The centralized control has the disadvantages that the upper computer bears almost all the computing pressure, and it is difficult to eliminate the control delay caused by the computing pressure. The control of mobile robots Consistency cannot be guaranteed; the requirements for distributed control technology are relatively high, the overall coordination and optimization of the system is a worldwide problem, and the amount of data communication is large, and the requirements for communication equipment are extremely high

Method used

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  • UWB-positioning-based broadcast type multi-mobile-robot dynamic virtual interaction method
  • UWB-positioning-based broadcast type multi-mobile-robot dynamic virtual interaction method
  • UWB-positioning-based broadcast type multi-mobile-robot dynamic virtual interaction method

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Embodiment

[0036] figure 1 It is a flow chart of the dynamic virtual interaction method for multi-mobile robots based on UWB positioning and broadcasting in the present invention.

[0037] In this example, if figure 1 Shown, the present invention a kind of dynamic virtual interaction method based on UWB positioning broadcast type multi-mobile robot, comprises the following steps:

[0038] S1. Establish UWB positioning coordinate system

[0039] The UWB module collects the distance information between the base stations and the distance information between the airborne tags of each mobile robot and each base station, and sends them to the host computer through the main base station to establish a UWB positioning coordinate system;

[0040] In this embodiment, the schematic diagram of the UWB positioning coordinate system is as follows figure 2 As shown, the specific construction method is determined by the user's own situation; the base station establishes the origin, abscissa axis, an...

example

[0071] For ease of understanding, the relatively simple case of two mobile robots will be discussed separately here. Let the ID of the two mobile robots be A 1 、A 2 , and give them the initial coordinate information as A 1 (-25,0), A 2 (60,60), σ 1 , σ 2 80 and 100 respectively; give A 1 With the initial velocity of 0.05 in the positive direction of the abscissa axis, give A 2 The initial velocity in the negative direction of the abscissa axis is 0.05.

[0072] The user gives a control function:

[0073]

[0074] in, and A respectively 1 、A 2 Velocity component on the Y axis; weight is A 1 、A 2 The weight value generated between, A 1x 、A 1y for A 1 The abscissa and ordinate values ​​of A 2x 、A 2y for A 2 The horizontal and vertical coordinate values ​​of . The control function F can be customized by the user according to the actual application.

[0075] Figure 4 is A 1 、A 2 Schematic diagram of weight changes during exercise;

[0076] Figure ...

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Abstract

The invention discloses a UWB-positioning-based broadcast type multi-mobile-robot dynamic virtual interaction method, which comprises the steps of collecting distance information between base stationsand distance information between robot-mounted tags of the mobile robots and the base stations through a UWB module, sending the distance information to an upper computer through a main base station,and establishing a UWB positioning coordinate system; establishing a composition rule of a dynamic virtual network topology structure in each mobile robot, establishing a mobile robot identity information set in an upper computer, calculating original coordinate information to obtain position information of each mobile robot, and binding the mobile robot identity information with the position information; and enabling each mobile robot to receive the bound identity information and position information broadcasted by the upper computer, realizing the generation of a hybrid network combining acentralized communication system and a distributed control system, and completing dynamic virtual interaction through the composition rule of the dynamic virtual network topology structure.

Description

technical field [0001] The invention belongs to the technical field of mobile machines, and more specifically relates to a dynamic virtual interaction method for multi-mobile robots based on UWB positioning and broadcasting. Background technique [0002] The Chinese name of UWB is Ultra Wide Band (Ultra Wide Band, UWB). It is a carrier-free communication technology that uses nanosecond to microsecond non-sine wave narrow pulses to transmit data. Ultra-wideband communication is a new communication method using pulse as a signal, which solves the major problems related to propagation that have plagued traditional wireless communication technology for many years. It has insensitivity to channel fading, high-speed data transmission, low power spectral density of transmitted signals, and low intercept rate. , The realization of the system structure is simple, the engineering is simple and the cost is cheap, and the positioning accuracy of several centimeters can be provided. In ...

Claims

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Application Information

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IPC IPC(8): H04W4/029H04W4/06H04W4/33H04W64/00G01S5/14
CPCG01S5/14H04W4/06H04W64/00H04W4/029H04W4/33
Inventor 胡江平沈昭宇李咏章苑港硕穆尚群
Owner UNIV OF ELECTRONIC SCI & TECH OF CHINA