【摘要】 文章针对目前室内物料搬运机器人的定位精度低、在获取机器人的姿态信息时对IMU或其他导航器件的依赖性很大等问题，基于UWB设计了一种室内物料搬运机器人。文章从硬件与软件两个方面对机器人进行设计，该机器人导航不需要用到IMU等相关器件，即可获取机器人的实时姿态信息，并且能够使机器人完成物料运送等工作。设计采用TDOA定位算法实现机器人的定位，通过改进的K-C算法提升定位精度，基于UWB的机器人姿态解算算法获取得到机器人的机体姿态数据，经试验验证了该算法的有效性和机器人的可靠性。更多还原

【Abstract】 In response to the current problems of low positioning accuracy and extreme reliance on IMU or other navigation devices to obtain robot posture information of indoor material handling robots,this paper designs an indoor material handling robot based on UWB. Firstly,this article designs robots from both hardware and software perspectives. The robot navigation does not require the use of IMU and other related devices,and can obtain real-time pose information of the robot,and enable the robot to complete tasks such as material transportation. Secondly,the TDOA positioning algorithm is used to achieve robot positioning and the positioning accuracy is improved by improving the K-C algorithm. Finally,the robot′s body posture data is obtained through the UWB based robot posture calculation algorithm. The effectiveness of the algorithm proposed in this article and the reliability of the robot have been verified through experimental verification.更多还原