Investigation of movement of mobile robot work

摘要

The purpose of this article is to present the possibilities of robot localization in local coordinates. The first chapter discusses the local location system as well as the flow diagram of signals between devices. The system consisted of a mobile robot Starter Kit 2.0, Raspberry Pi 3 and a DWM1001 system. First, parameters were defined that will be measured during the experiment. Next, a local location system was presented consisting of a module enabling communication, among others after Ultrawideband (UWB). The next step was to present the configuration of the measurement position and the analysis of the control algorithm. The program was written in a Python node and data sent from navigation devices was read through the serial port (UART). The robot's position was measured at the starting point and after the specified movement. The final stage of this article was to determine the mathematical model of the studied phenomenon and to determine its application in issues related to mobile robotics.