Application of high precision localization in following service robots

摘要

The basis of robot autonomous localization and navigation is high-precision ranging. In this paper, a high- precision localization and following method based on Ultra-Wide Bandwidth (UWB) is designed on the platform of following service robot to solve the problem that the localization accuracy of indoor robot is not high at present. A linear compensation method for UWB ranging and an intuitive evaluation criterion for UWB localization accuracy using statistical knowledge is proposed. The system relies on the Robot Operating System (ROS) to build a distributed transmission mechanism for the localization and motion control of the robot. Relying on ROS, this mechanism is very convenient for later function expansion. Experiments show that the ranging and localization accuracy of UWB is less than 10 cm after using the data correction method proposed in this paper to compensate for the error. The tracking function of the robot with high precision and high stability is realized, which makes the system run efficiently, reliably and stably, and provides a more reliable localization and following scheme for the complete autonomous navigation of mobile robot.