Indoor positioning and navigation
Lodge utilizes the Robot Operating System (ROS), a platform that manages various sensors for precise indoor positioning and navigation. Our unique feature is the use of a UWB module, functioning as an independent node within the ROS platform. The UWB module employs trilateration to provide highly accurate positioning data. For safe navigation, our maps have 'inflated boundaries', directing the robot along the safest, most optimal path determined by the Dijkstra algorithm and Dynamic Window Approach.
Following
Path Planning
The robot needs to calculate a global motion route based on the target location. During motion, it needs to adjust the motion route in real time based on dynamic obstacles until it reaches the destination.
a) Global Path Planning (global_planner): It performs overall path planning based on the given target point and global map.
b) Local Real-Time Planning (local_planner): avoid obstacles and selects the current optimal path to closely follow the global optimal path.
UWB Localization
UWB (Ultra-Wideband) localization is a technology used to accurately determine the position of objects or individuals in both indoor and outdoor environments. It utilizes ultra-wideband radio signals to measure the time it takes for signals to travel between UWB transmitters and receivers. By analyzing the time of flight and signal strength, UWB localization systems can calculate the distance between the transmitter and receiver, allowing for precise positioning.
Lodge introduces an innovative Automatic Following function, taking indoor positioning and navigation to the next level. This functionality relies on a smart ID bracelet, equipped with a UWB tag module, which serves not only for identification but also for obtaining the position of the target user. Anchors strategically placed throughout the area transmit the target's position to the lodge.
Utilizing this information, the lodge continuously updates the target position and invokes the navigation function. This enables the lodge to determine the optimal path and guide itself towards the customer. As the lodge approaches the customer, it adjusts its velocity based on the "Velocity interval diagram." This ensures a safer and more comfortable following experience, enhancing overall customer satisfaction.