基于UWB与D*Lite的室内导航系统，为视障者提供高精度路径规划。
An Indoor Navigation System for the Visually Impaired based on UWB Positioning and D* Lite Path Planning Algorithm
- 用UWB实现厘米级定位，适应无GPS环境。
- D*Lite算法支持动态障碍物下的快速重规划。
- 适合医院、商场等复杂室内场景使用。
本文提出一种面向视障人士的室内导航系统，结合超宽带（UWB）定位技术与D* Lite路径规划算法。系统利用UWB传感器在无GPS环境下实现高精度定位。D* Lite算法用于优化行进路线，并在遇到动态障碍物时实现快速路径重规划。实验结果表明，该系统运行稳定、延迟低，在复杂室内环境中有效保障了用户的安全性与灵活性。
原文摘要 · Abstract (English)
This paper proposes an indoor navigation system for the visually impaired, leveraging Ultra-Wideband (UWB) positioning technology and the D*Lite path planning algorithm. The system utilizes UWB sensors to provide precision localization in GPS-denied environments. The D* Lite algorithm is integrated to optimize travel trajectories and ensure rapid route re-planning in the presence of dynamic obstacles. Experimental results demonstrate that the system operates reliably with low latency, providing safety and flexibility for users in complex indoor spaces.
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