Formation Control Of Mobile Robots Under Internet-of-Things Environment

As a highly autonomous intelligent system,mobile robots have now been more and more widely used in modern society,to help peope to perform a variety of difficult tasks.Especially in the era of Internet of things,the combination of mobile robot technology and Internet of things realizes the complementary advantages of Internet and robots,which brings new challenges and opportunities for the development and application of Internet of things and mobile robots.This thesis focuses on the localization and formation control of multi-mobile robots in the Internet of things environment.The main research contents and results are as follows:Firstly,the ultra wideband wireless positioning system is designed,and the data fusion of ultra wideband localization and IMU is completed in order to get a higher positioning accuracy.At the same time,the communication network between each robot is designed to integrate all robots into the Internet of things system.Secondly,the kinematics model of the robot is studied,and the formation controller is designed under the global position and relative position environment.When the global coordinate is given,the Lyapunov function method is used to make the error convergent to zero with bounded velocity and angular velocity.Following,in the case of relative distance and angle measurable,the input-output feedback linearization method is used to design the controller.Because there are always disturbance in the relative angle measurement,the nonlinear disturbance observer is used to compensate the disturbance.Based on the output of the disturbance observer,the formation keeping controller is designed to improve the anti-disturbance ability.Finally,the hardware and software design of three robots are completed,and the formation task is accomplished by the positioning information provided by the positioning system.