基于UWB定位技术的多移动机器人编队控制

doi:10.11959/j.issn.2096-6652.201907

Abstract

Abstract:

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:

TP242.6

Yajun ZHENG, Lei XUE, Lu DONG, et al. Formation control of mobile robots with UWB localization technology[J]. Chinese Journal of Intelligent Science and Technology, 2019, 1(1): 83-87.

Figures/Tables 6

位置初始值	$p (0) = [\begin{matrix} p_{1}^{T} (0) \\ p_{2}^{T} (0) \\ p_{3}^{T} (0) \\ p_{4}^{T} (0) \end{matrix}] = [\begin{matrix} 1 2 \\ 1 1 \\ 2 2 \\ 1 4 \end{matrix}]$
速度初始值	$v (0) = [\begin{matrix} v_{1}^{T} (0) \\ v_{2}^{T} (0) \\ v_{3}^{T} (0) \\ v_{4}^{T} (0) \end{matrix}] = [\begin{matrix} 0 0 \\ 1 0 \\ 0 0 \\ 1 2 \end{matrix}]$
编队参数设定	$h (t) = [\begin{matrix} h_{1}^{T} (t) \\ h_{2}^{T} (t) \\ h_{3}^{T} (t) \\ h_{4}^{T} (t) \end{matrix}] = [\begin{matrix} 3 t \\ 3 t \\ 3 t + 10 \\ 3 t +10 \end{matrix} \begin{matrix} 3 t \\ 3 t + 10 \\ 3 t \\ 3 t +10 \end{matrix}]$
控制参数设定	$K_{1} = {[1 1 1 1]}^{T}$ $K_{2} = {[3 3 3 3]}^{T}$

References 20

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