An air-to-ground cooperative system based on UWB positioning
CHEN Wanzhu
CHEN Guoqing
NIE Yuwei
WANG Peng
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.
Keywords：UWBinverse kinematics solutionobstacle avoidance and followingmap navigation
Publication Date：2025-01-27
Pages：3( 10-12 )