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Design and Implementation of Automatic Following Balancing Vehicle Based on UWB Positioning Principle

Zhang Chenyu(Information Department, Beijing University of Technology)
Chen Fangyi(Information Department, Beijing University of Technology)
Kang Zhongyun(Information Department, Beijing University of Technology)


With the modernization of industrial production, various automatic following technologies have gradually penetrated into people's lives. Among them, the application fields that follow mobile balancing vehicles range from the structured environment of factories to the daily living environment. The purpose of this subject is to be able to use UWB positioning technology to realize that the balanced trolley is an automatic following function, which mainly uses the ranging function in UWB positioning technology, uses the TOF ranging principle and embedded basic knowledge, and changes the positioning algorithm to a following algorithm. The distance between the target object and the person is effectively determined by two tags set on the trolley and a base station in the hand to determine the distance, and the distance information is transmitted through the serial port. By writing an algorithm, the distance information is converted to the driving information of the trolley, and the driving information is sent to the trolley to control the trolley, thereby realizing the task of balancing the trolley to follow the specified target in a simple indoor environment.


Automatic following trolley; UWB positioning; TOF ranging principle

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