Research On Formation Control Of Multi-mobile Unmanned Vehicle Based On WSN

With the development of wireless sensor network technology,the innovation of mobile unmanned vehicle technology is becoming faster and faster.Aimed at the problem that a single mobile unmanned vehicle can't accomplish complex tasks,this paper puts forward a method combining control technology of mobile unmanned vehicle technology with WSN technology,which can enable multiple mobile unmanned vehicle instead of humans in complex environment and efficient completion of tasks.This technology is widely used in the area of the warehouse handling,inspection monitoring and other areas,who has a strong theoretical significance and practical value.This paper researches the multi-mobile unmanned vehicle system based on WSN location,building the hardware platform with ZigBee CC2430/CC2431 components,uploading the collected data to PC,and displaying the location results on PC.In order to solve the problem of instability of positioning result caused by environmental factors,the localization algorithm is improved.After improving,Experimental data show that the positioning error within the specified range,whose positioning accuracy is 30% higher than before.Such corrective method achieved the good localization effect,laying the foundation for formation control.By comparing different formation algorithms,this paper uses the method of Leader-Follower control algorithm theory to calculate the theoretical.Linear velocity and angular velocity of the follower to realize the stability of multiple mobile unmanned vehicleformation,which can adjust the closed-loop control coefficient to control the formation of the convergence rate.This paper compares the motion model of multiple mobile unmanned vehicle with the spring oscillator model,researching the stability of multiple mobile unmanned vehicle under linear and nonlinear control signals,different damping conditions respectively.Through the MATLAB numerical simulation,the displacement time of multiple mobile unmanned vehicle reciprocating motion response diagram,phase diagram and Poincáre maps are drawn,which verified the stability of multiple mobile unmanned vehicle fleet in the reciprocating path task.From combining positioning algorithm and improved the results,the mobile positioning monitoring unmanned vehicle reciprocating work was achieved.This paper improves the positioning algorithm for the inaccurate positioning problem,The Leader-Follower formation algorithm and the theoretical innovation of the method are studied,which provides a theoretical basis for the practical application of engineering.