TY - GEN
T1 - Robust Adaptive Following by UWB Sensors and High-precision Gyroscope for Industrial Assistance Robots
AU - Wei, Feng
AU - Yang, Delong
AU - Luo, Zhaohui
AU - Wu, Jipeng
AU - Su, Dongnan
AU - Shang, Peng
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Assistance robots are popular implemented in many industrial automatic manufactures. In particular, instead of carrying heavy object by hand, workers utilize industrial assistance robots to deal with non-easy handling stuff. Robots can also assist in completing tasks well when the goods need to be sent to a production workshop. Usually robots need to follow people to reach the destination. In this process, a robust adaptive following is necessarily used. Many previous researches were focused on vision-tracking following approaches or line tracking method for designing autonomous following. However, vision-tracking following is limited by light environment and line tracking method is only used in specific route. This paper proposed a novel following method combined UWB Sensors (Ultra-Wideband Sensors) and high-precision gyroscope to track and follow the target. When sensitivity of UWB Sensors declines because of the complex dynamic environment, high-precision gyroscope helps robot to identify the target and continue to follow it. The experimental results show that the combination of a variety of sensors and advanced algorithms could effectively deal with the problem caused by few sensors following method and achieve robust adaptive following in dynamic environment.
AB - Assistance robots are popular implemented in many industrial automatic manufactures. In particular, instead of carrying heavy object by hand, workers utilize industrial assistance robots to deal with non-easy handling stuff. Robots can also assist in completing tasks well when the goods need to be sent to a production workshop. Usually robots need to follow people to reach the destination. In this process, a robust adaptive following is necessarily used. Many previous researches were focused on vision-tracking following approaches or line tracking method for designing autonomous following. However, vision-tracking following is limited by light environment and line tracking method is only used in specific route. This paper proposed a novel following method combined UWB Sensors (Ultra-Wideband Sensors) and high-precision gyroscope to track and follow the target. When sensitivity of UWB Sensors declines because of the complex dynamic environment, high-precision gyroscope helps robot to identify the target and continue to follow it. The experimental results show that the combination of a variety of sensors and advanced algorithms could effectively deal with the problem caused by few sensors following method and achieve robust adaptive following in dynamic environment.
KW - following
KW - high-precision gyroscope
KW - industrial assistance robot
KW - UWB
UR - http://www.scopus.com/inward/record.url?scp=85137080451&partnerID=8YFLogxK
U2 - 10.1109/CISCE55963.2022.9851070
DO - 10.1109/CISCE55963.2022.9851070
M3 - 会议稿件
AN - SCOPUS:85137080451
T3 - 2022 4th International Conference on Communications, Information System and Computer Engineering, CISCE 2022
SP - 572
EP - 576
BT - 2022 4th International Conference on Communications, Information System and Computer Engineering, CISCE 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th International Conference on Communications, Information System and Computer Engineering, CISCE 2022
Y2 - 27 May 2022 through 29 May 2022
ER -