Research on Adaptive Monte Carlo Location Algorithm Aided by Ultra-Wideband Array

In order to solve the problem of poor initial location performance, global location failure and kidnap problems of Adaptive Monte Carlo Location (AMCL) algorithm, this paper proposes the algorithm based on ultra-wideband (UWB) array to calculate the pose of mobile robot and the AMCL algorithm assisted by the UWB array. The relative position of the UWB tag on mobile robot is solved to calculate the absolute pose of the mobile robot. The absolute pose is integrated into the AMCL algorithm to assist mobile robot in initial location. At the same time, it is used as a reference pose to detect whether mobile robot has located globally and kidnap or not, and develop recovery strategy of global location failure or kidnap for relocating successfully. Finally, under the gazebo simulation platform, the simulation experiment is carried out. The results show that the algorithm for solving pose based on the UWB array can solve the pose of mobile robot accurately, the rapidity and stability of the initial location are improved, global location failure or kidnap can be detected, and mobile robot can recover to locate successfully in the case of location failure or kidnap.