Carrier Bot: A UWB-based Human Following Mobile Platform for Intra-Office Transport with an Intuitive Teach-and-Repeat Programming

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2023-12-04 DOI:10.1109/ROBIO58561.2023.10354960

Dingzhi Zhang, Lukas Birner, Vinicius Zinkernagel, C. Rehekampff, Darius Burschka, Tim C. Lueth

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Abstract

Despite the rapid development in robotics, the use of mobile robots in everyday life is currently not yet widespread. The complicated programming interface of mobile robots is often an obstacle to use for people who are not technically proficient. To this end, we present a novel method for teach-and-repeat of mobile robots by Ultra-Wideband (UWB) based human following. This approach has the following two advantages. First, the human following using UWB releases capacities for parallel activities during the teach-in process. Second, the programming of the robot path is conducted directly on the robot hardware using a self-developed UWB-based handset, which reduces setup time. Real-world experiments are conducted using our in-house developed mobile robot platform, the "Carrier Bot", whose hardware design has been specially selected to facilitate ease of use for indoor teach-in programming. Experiments show that the proposed system can reach a repeatability of 0.05 m of at least 12 meters path.

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Carrier Bot：基于 UWB 的人机跟踪移动平台，用于办公室内运输，可进行直观的重复教学编程

尽管机器人技术发展迅速，但目前移动机器人在日常生活中的应用还不广泛。移动机器人复杂的编程界面往往成为技术不熟练者的使用障碍。为此，我们提出了一种基于超宽带（UWB）的人机跟读移动机器人示教和复述的新方法。这种方法有以下两个优点。首先，在示教过程中，使用超宽带进行人工跟踪可释放并行活动的能力。其次，使用自主开发的基于 UWB 的手机可直接在机器人硬件上对机器人路径进行编程，从而减少了设置时间。我们使用自主开发的移动机器人平台 "Carrier Bot "进行了实际实验，该平台的硬件设计经过特别挑选，便于室内示教编程的使用。实验结果表明，该系统在至少 12 米的路径上可以达到 0.05 米的重复精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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