智能城市2025，Vol.11Issue(1)：10-12,3.DOI:10.19301/j.cnki.zncs.2025.01.003
基于UWB定位的空地协同系统
An air-to-ground cooperative system based on UWB positioning
摘要
Abstract
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Key words
UWB/inverse kinematics solution/obstacle avoidance and following/map navigation分类
计算机与自动化引用本文复制引用
陈万著,陈国庆,聂钰薇,王鹏..基于UWB定位的空地协同系统[J].智能城市,2025,11(1):10-12,3.基金项目
自治区级大学生创新创业训练计划项目(S202310595347) （S202310595347）
