CN209198940U - The automatic Following Car in library - Google Patents
The automatic Following Car in library Download PDFInfo
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- CN209198940U CN209198940U CN201822120221.9U CN201822120221U CN209198940U CN 209198940 U CN209198940 U CN 209198940U CN 201822120221 U CN201822120221 U CN 201822120221U CN 209198940 U CN209198940 U CN 209198940U
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- uwb
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Abstract
The utility model discloses a kind of automatic Following Cars in library, comprising: vehicle ontology and carry-on positioning device；Vehicle ontology is equipped with main control unit, three base stations UWB, motor drive module, motor, movement mechanism and the first power module, three base station UWB settings triangular in shape, three base stations UWB, motor drive module, the first power module are connect with main control unit respectively, movement mechanism is connect by motor with motor drive module, and three base stations UWB, motor drive module, motors are connect with the first power module respectively；Carry-on positioning device includes UWB label and second power supply module, and UWB label is connect with second power supply module；Each base station UWB is carried out data transmission with UWB label by radio connection respectively.Compared with prior art, the utility model uses uwb ultra-broadband ranging technology, realizes that vehicle and the automatic of staff follow, improves working efficiency and work quality.
Description
Technical field
The utility model relates to a kind of automatic Following Cars in library, belong to taking care of books technical field.
Background technique
In today that librarianship rapidly develops, Reading promotion has become common practise.As library's scale increasingly expands
Greatly, books amount, Readers ' Borrowing Books amount are significantly increased, so that the book management work amount of librarian greatly increases.Moreover,
Reader borrows habit general lack of good, cause to borrow exceed the time limit, book damage, books mistake frame, the bad phenomenons such as random frame it is frequent
Occur, wherein books mistake frame is disorderly put up as a problem very serious in book borrowing and reading, this undoubtedly increases books again
The workload of shop staff, so that shelving is more and more cumbersome, difficult.
Currently, shelving mainly or by traditional trolley mode, i.e. librarian hand push is loaded with figure
The trolley of book finds the corresponding bookshelf of books.This restocking mode fully relies on manually, and intricate operation, complexity increase work
The work load of personnel, and shelving low efficiency are also easy error.In addition, in order to make shelving is working properly to have
Sequence carries out, and needs the staff of a certain number of finishing books.
Utility model content
The purpose of the utility model is to provide a kind of automatic Following Cars in library, can at least solve above-mentioned technology and ask
One of topic.
In order to solve the above technical problems, the utility model adopts the following technical solutions:
A kind of automatic Following Car in library, comprising: vehicle ontology and carry-on positioning device；The vehicle ontology is equipped with master control list
Member, three base stations UWB, motor drive module, motor, movement mechanism and the first power module, three base stations UWB are in triangle
Shape setting, three base stations UWB, the motor drive module, first power module connect with the main control unit respectively
It connects, the movement mechanism is connect by the motor with the motor drive module, and three base stations UWB, the motor drive
Dynamic model block, the motor are connect with first power module respectively；The carry-on positioning device includes UWB label and the second electricity
Source module, the UWB label are connect with the second power supply module；Each base station UWB passes through with the UWB label respectively
Radio connection carries out data transmission.
In the automatic Following Car in library above-mentioned, each base station UWB and the UWB label include UWB chip
And toggle switch.
It further include the RFID label tag being arranged on books in the automatic Following Car in library above-mentioned；The vehicle ontology also wraps
The RFID card reader connecting with the main control unit is included, the RFID card reader is connect with first power module, described
RFID card reader is carried out data transmission with the RFID label tag by less radio-frequency connection type.
In the automatic Following Car in library above-mentioned, the vehicle ontology further includes the display mould connecting with the main control unit
Block, the display module are connect with first power module.
In the automatic Following Car in library above-mentioned, the UWB chip is DW1000 chip.
In the automatic Following Car in library above-mentioned, three base stations UWB setting in equilateral triangle.
In the automatic Following Car in library above-mentioned, the toggle switch is DIP toggle switch.
Compared with prior art, the utility model uses uwb ultra-broadband ranging technology, realizes vehicle and librarian
Automatically follow, existing trolley is converted into effortless automatic Following Car, effectively liberate staff's both hands, mitigate work
It bears, improves working efficiency and work quality.
Detailed description of the invention
Fig. 1 to 3 is the structural schematic diagram for the automatic Following Car in library that the utility model embodiment mentions.
The utility model is further described with reference to the accompanying drawings and detailed description.
Specific embodiment
The utility model embodiment one:
A kind of automatic Following Car in library specifically includes that vehicle ontology 1 and carry-on positioning device 2 as shown in Figure 1 and Figure 2；Vehicle
Ontology 1 is equipped with 10, three base stations UWB 11 of main control unit, motor drive module 12, motor 13, movement mechanism 14 and the first electricity
Source module 15, three settings triangular in shape of the base station UWB 11, three base stations UWB 11, motor drive module 12, the first power module
15 connect with main control unit 10 respectively, and movement mechanism 14 is connect by motor 13 with motor drive module 12, three base stations UWB
11, motor drive module 12, motor 13 are connect with the first power module 15 respectively；Carry-on positioning device 2 includes 20 He of UWB label
Second power supply module 21, UWB label 20 are connect with second power supply module 21；Each base station UWB 11 passes through with UWB label 20 respectively
Radio connection carries out data transmission.
To replace traditional trolley, realize that vehicle and the automatic of librarian follow, the present embodiment uses ranging
Technology is positioned between staff and Che.Currently, ranging technology has bluetooth ranging technology, ultrasonic distance measurement positioning skill
Art, radio frequency (RFID) identification location technology, GPRS positioning system, infrared distance measuring location technology etc..Wherein, bluetooth positioning accuracy
At 1-2 meters or so, precision is not high enough；Ultrasonic wave positioning accuracy can reach 6-10cm, but since ultrasonic wave declines in transmission process
Subtract and obviously positions effective range to influence it；The communication distance of radio frequency identification location technology is shorter, and precision is not high, does not have
Communication capacity；When reaching ground, precision substantially decays GPRS location technology, and signal is influenced very big, positioning accurate by building
Degree is within the scope of 5-20m；Infrared distance measuring location technology precision is influenced by other light sources very big within the scope of 5-10m.
Compared to the above ranging technology, super-broadband tech (UWB) is that one kind is completely new, has huge difference with conventional communication techniques
The communication technology.It is not needed using the carrier wave in traditional communication system, but by sending and receiving with nanosecond or nanosecond
Grade ultra-narrow pulse below transmits data, thus the bandwidth with GHz magnitude；Its transmission rate height (reaches as high as
1000Mbps or more), positioning accuracy with high accuracy can be provided, 6-10cm can reached apart from upper precision, reached in angle
± 15 degree；It can be applied to locating and tracking and the navigation of stationary indoors or mobile object and people, and can be simultaneously in room
Interior and outdoor utility has extremely strong penetration capacity, and transmission power is lower, and multi-path resolved ability is strong, copes with and around moves
The narrow environment that object is intensive and movement routine is complicated is suitble to apply in large scene；In addition, cost is relatively low.Therefore,
The precise positioning to librarian may be implemented in UWB location technology in scheduling system, is optimal location technology choosing
It selects.
The working principle of the automatic Following Car in the library is as follows: there are three the base stations UWB 11 for dress on trolley, and staff is carry-on
UWB label 20 is carried, these three base station UWB 11 and UWB labels 20 are locked in advance.When staff and trolley are in same ring
In border, three base stations UWB 11 launch outward UWB signal respectively, and the portable UWB label 20 of staff receives signal
Afterwards, UWB signal is returned to, each base station UWB 11 obtains distance and angle information of the UWB label 20 with respect to itself respectively, and will
The information is sent to main control unit 10, and main control unit 10 receives distance and angle of the UWB label 20 relative to each base station UWB 11
After information, distance of the UWB label 20 respectively away from three base stations can be calculated by existing three side location algorithm, and transport by geometry
Calculation obtains position of the staff relative to trolley.Information generates control signal to main control unit 10 depending on the relative position, and sends
To motor drive module 12, the work of 12 driving motor 13 of motor drive module makes movement mechanism 14 start to execute corresponding actions, example
Such as: when UWB label 20 is at the trolley left side, trolley is turned left；When UWB label 20 is on the right of trolley, trolley is turned right；When
When UWB label 20 is in front of small Vehicle Certificate, trolley is gone ahead；When reaching the following distance set, trolley stop motion.It realizes
The automatic of accurate positionin and trolley to librarian follows.
In the present embodiment, each base station UWB 11 and UWB label 20 include UWB chip and toggle switch.
Preferably, UWB chip is the DW1000 chip of bilateral bidirectional ranging.DW1000 precision is high, and energy consumption is small, is integrated with and penetrates
Whole components of frequency radio design, including DW1000 positioning chip, antenna, equilibrate to balun, quartz
Crystal and passive element.It can send wireless signal as signal reader, determine chip by calculating the transmission time of signal
Position, the time the long, illustrates that distance is remoter, error is no more than 100mm；And its farthest transmission range be 450m (direct-view away from
From non-horizon grange is 45m), it can be used as indoor positioning.
In the present embodiment, it is configured by toggle switch come the node type to UWB label 20, the base station UWB 11, ID.
Specifically, since the base station UWB 11 and UWB label 20 are all to use UWB sensor, in initial configuration, need by each
From toggle switch to UWB sensor carry out node type setting, be base station or label；It will be same by toggle switch
3 base stations UWB 11 on a vehicle are set as same a small group ID, and the UWB label 20 for using the staff of the vehicle is also configured as
Base station and the label of group ID, identical group ID can communicate with each other, and can not then communicate between different groups；Pass through toggle switch
The module I D of the base station UWB 11, UWB label 20 is configured, i.e. their numbers in group.Optionally, toggle switch is
DIP toggle switch.
In the present embodiment, three base stations UWB 11 are located in approximately the same plane, are fixed at vehicle by Atria vertex
The inside of ontology 1.Without any connection between each base station, the virtual triangle frame in Fig. 2 is not necessary being, only
It is drawn convenient for the understanding to each base station location relationship.Optionally, three base stations UWB 11 in equilateral triangle can be arranged.
In the present embodiment, main control unit 10 can use single-chip microcontroller.Movement mechanism 14 can be wheel, in main control unit 10
Control the steering and advance of lower carry out wheel.
In the present embodiment, the first power module 15 is that each module of vehicle ontology 1 is powered, can be with external charge equipment pair
First power module 15 charges.Second power supply module 21 is that each module of carry-on positioning device 2 is powered, can be external
Charging equipment charges to second power supply module 21.
It should be noted that understand attached drawing line, Fig. 1 by three base stations UWB 11 as a whole with UWB label
20 are attached, and the independent connection relationship of each base station UWB 11 and UWB label 20 is omitted.
The utility model embodiment two:
A kind of automatic Following Car in library, as shown in Figure 2 and Figure 3, specifically include that vehicle ontology 1, carry-on positioning device 2 and
RFID label tag 3 on books is set；Vehicle ontology 1 be equipped with 10, three base stations UWB 11 of main control unit, motor drive module 12,
Motor 13, movement mechanism 14, RFID card reader 16 and the first power module 15, three settings triangular in shape of the base station UWB 11, three
The base station UWB 11, motor drive module 12, RFID card reader 16, the first power module 15 are connect with main control unit 10 respectively, movement
Mechanism 14 is connect by motor 13 with motor drive module 12, three base stations UWB 11, motor drive module 12, motor 13, RFID
Card reader 16 is connect with the first power module 15 respectively, and RFID card reader 16 and RFID label tag 3 pass through less radio-frequency connection type
Carry out data transmission；Carry-on positioning device 2 includes UWB label 20 and second power supply module 21, UWB label 20 and second source mould
Block 21 connects；Each base station UWB 11 is carried out data transmission with UWB label 20 by radio connection respectively.
To replace traditional trolley, realize that vehicle and the automatic of librarian follow, the present embodiment uses ranging
Technology is positioned between staff and Che.Currently, ranging technology has bluetooth ranging technology, ultrasonic distance measurement positioning skill
Art, radio frequency (RFID) identification location technology, GPRS positioning system, infrared distance measuring location technology etc..Wherein, bluetooth positioning accuracy
At 1-2 meters or so, precision is not high enough；Ultrasonic wave positioning accuracy can reach 6-10cm, but since ultrasonic wave declines in transmission process
Subtract and obviously positions effective range to influence it；The communication distance of radio frequency identification location technology is shorter, and precision is not high, does not have
Communication capacity；When reaching ground, precision substantially decays GPRS location technology, and signal is influenced very big, positioning accurate by building
Degree is within the scope of 5-20m；Infrared distance measuring location technology precision is influenced by other light sources very big within the scope of 5-10m.
Compared to the above ranging technology, super-broadband tech (UWB) is that one kind is completely new, has huge difference with conventional communication techniques
The communication technology.It is not needed using the carrier wave in traditional communication system, but by sending and receiving with nanosecond or nanosecond
Grade ultra-narrow pulse below transmits data, thus the bandwidth with GHz magnitude；Its transmission rate height (reaches as high as
1000Mbps or more), positioning accuracy with high accuracy can be provided, 6-10cm can reached apart from upper precision, reached in angle
± 15 degree；It can be applied to locating and tracking and the navigation of stationary indoors or mobile object and people, and can be simultaneously in room
Interior and outdoor utility has extremely strong penetration capacity, and transmission power is lower, and multi-path resolved ability is strong, copes with and around moves
The narrow environment that object is intensive and movement routine is complicated is suitble to apply in large scene；In addition, cost is relatively low.Therefore,
The precise positioning to librarian may be implemented in UWB location technology in scheduling system, is optimal location technology choosing
It selects.
RFID card reader 16 is a kind of automatic identification equipment by RFID Radio Frequency Identification Technology read electronic label data,
It is a kind of contactless automatic identification technology.After RFID label tag 3 enters magnetic field, the radiofrequency signal that plug-in reader issues is received, with
The signal of a certain frequency of product information or active transmission stored in the chip is sent out by means of induced current energy obtained；
After plug-in reader reads information and decodes, send to Central Information System and carry out related data processing.This identification work need not be artificial
Intervene, is operable with various adverse circumstances.The even recognizable high-speed moving object of RFID technique simultaneously can identify multiple labels simultaneously,
It is swift and convenient to operate.Therefore the present embodiment identifies book information using RFID Radio Frequency Identification Technology.
The working principle of the automatic Following Car in the library is as follows: there are three the base stations UWB 11 for dress on trolley, and staff is carry-on
UWB label 20 is carried, these three base stations UWB 11 and UWB label 20 are locked in advance.When staff and trolley are in same ring
In border, three base stations UWB 11 launch outward UWB signal respectively, and the portable UWB label 20 of staff receives signal
Afterwards, UWB signal is returned to, each base station UWB 11 obtains distance and angle information of the UWB label 20 with respect to itself respectively, and will
The information is sent to main control unit 10, and main control unit 10 receives distance and angle of the UWB label 20 relative to each base station UWB 11
After information, distance of the UWB label 20 respectively away from three base stations can be calculated by existing three side location algorithm, and transport by geometry
Calculation obtains position of the staff relative to trolley.Information generates control signal to main control unit 10 depending on the relative position, and sends
To motor drive module 12, the work of 12 driving motor 13 of motor drive module makes movement mechanism 14 start to execute corresponding actions, example
Such as: when UWB label 20 is at the trolley left side, trolley is turned left；When UWB label 20 is on the right of trolley, trolley is turned right；When
When UWB label 20 is in front of small Vehicle Certificate, trolley is gone ahead；When reaching the following distance set, trolley stop motion.It realizes
The automatic of accurate positionin and trolley to librarian follows.In addition, librarian will be on books
RFID label tag 3 reads the book information of the RFID label tag 3, the book information packet close to RFID card reader 16, RFID card reader 16
The specific location that the books are located at library, i.e. which layer of which bookshelf of which region in library are included, library's work is helped
Make the accurate restocking that personnel realize books, reduces staff's error, improve the working efficiency and work quality of staff.
In the present embodiment, Che Benti 1 can also include the display module 17 connecting with main control unit 10, display module 17 with
The connection of first power module 15.For convenient for checking, display module 17 is arranged on the shell of vehicle ontology 1.Optionally, display module
17 can be liquid crystal display.When 16 card reading of RFID card reader, display module 17 can show that the book on vehicle is located at library
Specific location, i.e. which layer of which bookshelf of which region in library improves books conducive to the accurate restocking for realizing books
The efficiency of restocking improves accuracy, eliminates the error being artificially difficult to avoid that, reduces error rate, and then can also reduce work people
The quantity of member.
In the present embodiment, each base station UWB 11 and UWB label 20 include UWB chip and toggle switch.
Preferably, UWB chip is the DW1000 chip of bilateral bidirectional ranging.DW1000 precision is high, and energy consumption is small, is integrated with and penetrates
Whole components of frequency radio design, including DW1000 positioning chip, antenna, equilibrate to balun, quartz
Crystal and passive element.It can send wireless signal as signal reader, determine chip by calculating the transmission time of signal
Position, the time the long, illustrates that distance is remoter, error is no more than 100mm；And its farthest transmission range be 450m (direct-view away from
From non-horizon grange is 45m), it can be used as indoor positioning.
In the present embodiment, it is configured by toggle switch come the node type to UWB label 20, the base station UWB 11, ID.
Specifically, since the base station UWB 11 and UWB label 20 are all to use UWB sensor, in initial configuration, need by each
From toggle switch to UWB sensor carry out node type setting, be base station or label；It will be same by toggle switch
3 base stations UWB 11 on a vehicle are set as same a small group ID, and the UWB label 20 for using the staff of the vehicle is also configured as
Base station and the label of group ID, identical group ID can communicate with each other, and can not then communicate between different groups；Pass through toggle switch
The module I D of the base station UWB 11, UWB label 20 is configured, i.e. their numbers in group.Optionally, toggle switch is
DIP toggle switch.
In the present embodiment, three base stations UWB 11 are located in approximately the same plane, are fixed at vehicle by Atria vertex
The inside of ontology 1.Without any connection between each base station, the virtual triangle frame in Fig. 2 is not necessary being, only
It is drawn convenient for the understanding to each base station location relationship.Optionally, three base stations UWB 11 in equilateral triangle can be arranged.
In the present embodiment, main control unit 10 can use single-chip microcontroller.Movement mechanism 14 can be wheel, in main control unit 10
Control the steering and advance of lower carry out wheel.
In the present embodiment, the first power module 15 is that each module of vehicle ontology 1 is powered, can be with external charge equipment pair
First power module 15 charges.Second power supply module 21 is that each module of carry-on positioning device 2 is powered, can be external
Charging equipment charges to second power supply module 21.
It should be noted that understand attached drawing line, Fig. 3 by three base stations UWB 11 as a whole with UWB label
20 are attached, and the independent connection relationship of each base station UWB 11 and UWB label 20 is omitted.
The above is only the preferred embodiments of the utility model, are not intended to limit the utility model, for this field
Technical staff for, various modifications and changes may be made to the present invention.All creativeness spirit and original in the utility model
Within then, any modification, equivalent replacement, improvement and so on be should be included within the scope of protection of this utility model.
Claims (7)
1. a kind of automatic Following Car in library characterized by comprising vehicle ontology and carry-on positioning device；On the vehicle ontology
Equipped with main control unit, three base stations UWB, motor drive module, motor, movement mechanism and the first power module, three UWB
Base station setting triangular in shape, three base stations UWB, the motor drive module, first power module respectively with it is described
Main control unit connection, the movement mechanism are connect by the motor with the motor drive module, three base stations UWB,
The motor drive module, the motor are connect with first power module respectively；The carry-on positioning device includes UWB mark
Label and second power supply module, the UWB label are connect with the second power supply module；Each base station UWB respectively with it is described
UWB label is carried out data transmission by radio connection.
2. the automatic Following Car in library according to claim 1, which is characterized in that each base station UWB and described
UWB label includes UWB chip and toggle switch.
3. the automatic Following Car in library according to claim 1 or 2, it is characterised in that: further include being arranged on books
RFID label tag；The vehicle ontology further includes the RFID card reader connecting with the main control unit, the RFID card reader with it is described
The connection of first power module, the RFID card reader and the RFID label tag carry out data biography by less radio-frequency connection type
It is defeated.
4. the automatic Following Car in library according to claim 3, which is characterized in that the vehicle ontology further includes and the master
The display module of unit connection is controlled, the display module is connect with first power module.
5. the automatic Following Car in library according to claim 2, which is characterized in that the UWB chip is DW1000 chip.
6. the automatic Following Car in library according to claim 1,2,4 or 5, it is characterised in that: three base stations UWB are in
Equilateral triangle setting.
7. the automatic Following Car in library according to claim 2 or 5, which is characterized in that the toggle switch is DIP dial-up
Switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822120221.9U CN209198940U (en) | 2018-12-17 | 2018-12-17 | The automatic Following Car in library |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822120221.9U CN209198940U (en) | 2018-12-17 | 2018-12-17 | The automatic Following Car in library |
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| CN201822120221.9U Expired - Fee Related CN209198940U (en) | 2018-12-17 | 2018-12-17 | The automatic Following Car in library |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110559628A (en) * | 2019-11-08 | 2019-12-13 | 浙江天尚元科技有限公司 | Multi-mode operable following vehicle and following method |
| CN110597270A (en) * | 2019-10-11 | 2019-12-20 | 洛阳森德石化工程有限公司 | Use method of following robot trolley |
| CN111610544A (en) * | 2020-05-29 | 2020-09-01 | 上海美纳德建筑设计事务所有限公司 | Auxiliary method for following positioning of blind guiding unmanned aerial vehicle system |
| CN111891017A (en) * | 2020-07-29 | 2020-11-06 | 同济大学 | Shock-proof type welding type following transfer robot system |
| CN112394733A (en) * | 2020-11-26 | 2021-02-23 | 吉林大学 | Intelligent vehicle autonomous following obstacle avoidance method based on UWB and ultrasonic wave |
| CN113128874A (en) * | 2021-04-22 | 2021-07-16 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Energy storage mobile charging vehicle, control method, electronic equipment and storage medium |
| CN113220036A (en) * | 2021-04-20 | 2021-08-06 | 长城汽车股份有限公司 | Automatic vehicle following system and method |
| CN114157980A (en) * | 2021-11-25 | 2022-03-08 | 嘉兴无境创新科技有限公司 | Automatic following product based on UWB positioning technology |
| CN114745697A (en) * | 2022-03-22 | 2022-07-12 | 同济大学 | Ultra-wideband technology-based vehicle formation communication system and method |
| CN115357027A (en) * | 2022-09-16 | 2022-11-18 | 江南大学 | Unmanned vehicle movement following method without global map based on obstacle outline |
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2018
- 2018-12-17 CN CN201822120221.9U patent/CN209198940U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110597270A (en) * | 2019-10-11 | 2019-12-20 | 洛阳森德石化工程有限公司 | Use method of following robot trolley |
| CN110559628A (en) * | 2019-11-08 | 2019-12-13 | 浙江天尚元科技有限公司 | Multi-mode operable following vehicle and following method |
| CN111610544A (en) * | 2020-05-29 | 2020-09-01 | 上海美纳德建筑设计事务所有限公司 | Auxiliary method for following positioning of blind guiding unmanned aerial vehicle system |
| CN111891017A (en) * | 2020-07-29 | 2020-11-06 | 同济大学 | Shock-proof type welding type following transfer robot system |
| CN112394733A (en) * | 2020-11-26 | 2021-02-23 | 吉林大学 | Intelligent vehicle autonomous following obstacle avoidance method based on UWB and ultrasonic wave |
| CN113220036A (en) * | 2021-04-20 | 2021-08-06 | 长城汽车股份有限公司 | Automatic vehicle following system and method |
| CN113128874A (en) * | 2021-04-22 | 2021-07-16 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Energy storage mobile charging vehicle, control method, electronic equipment and storage medium |
| CN114157980A (en) * | 2021-11-25 | 2022-03-08 | 嘉兴无境创新科技有限公司 | Automatic following product based on UWB positioning technology |
| CN114157980B (en) * | 2021-11-25 | 2023-12-08 | 嘉兴无境创新科技有限公司 | Automatic following product based on UWB positioning technology |
| CN114745697A (en) * | 2022-03-22 | 2022-07-12 | 同济大学 | Ultra-wideband technology-based vehicle formation communication system and method |
| CN114745697B (en) * | 2022-03-22 | 2024-09-24 | 同济大学 | Ultra-wideband technology-based vehicle formation communication system and method |
| CN115357027A (en) * | 2022-09-16 | 2022-11-18 | 江南大学 | Unmanned vehicle movement following method without global map based on obstacle outline |
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