Chinese Journal of Intelligent Science and Technology ›› 2019, Vol. 1 ›› Issue (1): 83-87.doi: 10.11959/j.issn.2096-6652.201907

• Papers • Previous Articles     Next Articles

Formation control of mobile robots with UWB localization technology

Yajun ZHENG1,Lei XUE1,2,Lu DONG1,2,Qingling WANG1,2()   

  1. 1 Southeast University,Nanjing 210096,China
    2 Nanjing Academy of Cloud-Intelligence-Control Industries,Nanjing 210023,China
  • Revised:2019-03-11 Online:2019-03-20 Published:2019-05-28
  • Supported by:
    The National Natural Science Foundation of China(U1713209);The National Natural Science Foundation of China(61803085);The National Natural Science Foundation of China(61806052)


In this paper,a novel multi-mobile robots formation control algorithm based on ultra-wideband (UWB) location technology was proposed.UWB location technology is relatively mature but is less applied to formation control problem.The framework of systems and hardware design of mobile multi-robot systems were first presented.Then,the systems model was established and the corresponding distributed control algorithm was proposed.Finally,the stability of multi-robot systems was proved and one simulation example was given to show the effectiveness of the proposed formation control algorithm.

Key words: mobile robot, UWB localization, formation control

CLC Number: 

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