湖北师范大学学报(自然科学版)

针对复杂搬运场景固定导引式的智能小车运行的局限性，提出以自由路径导引式进行设计更好的满足搬运需求。利用UWB空间定位技术实现高精度目标跟随，以STM32F103VET6为主控模块，通过各种传感器模块获取信息控制左右电机，以差速驱动的方式控制小车向目标位置移动。通车安装在车身和目标体上的UWB标签模块获取的空间信息，利用定位算法能精确地获取小车相对于目标的空间位置，系统中的超声波传感器、RFID标签传感器、磁条传感器和防撞条等获取多种信息，保障小车能以自由路径导引模式向目标移动。经过测试智能小车在手动模式、跟随模式和循迹模式下，无论空载或负中都能在低中高速下保持良好运行状态，能适应多种复杂场景作业，对于工业自动化具有重要的意义。

In complex handling scenarios, the operation of fixed-guided intelligent trolleys has limitations, while the free-path guided type can better meet the handling needs. In this paper, UWB spatial positioning technology is used to achieve high-precision target following, with STM32F103VET6 as the main control module.Information obtained through various sensor modules controls the left and right motors and drive the trolley to move the target position at different speeds.The spatial information acquired by the UWB tag module installed on the car and the target can accurately identify the spatial position of the trolley relative to the target by using the positioning algorithm, and the ultrasonic sensor, RFID tag sensor, magnetic stripe sensor and anti-collision stripe in the system can obtain a variety of information to ensure that the trolley can move to the target in free path guidance mode.After testing, the intelligent car can maintain good operation at low, medium and high speed no matter whether it is offree load or loaded in full manual mode, follow mode and tracking mode, and canadapt to a variety of complex scene operations, which is of great significance to industrial automation.