Design And Implementation Of Multi-robot Positioning And Formation Control Based On UWB

The cooperation and coordination between multiple robots can complete highly complex tasks that a single robot cannot do.It is of great significance to achieve collaborative completion of tasks in a distributed space environment,and can greatly promote the development of robotics technology.Multi-robot formation has always been an important content of multi-robot system control.The research of multi-robot formation in indoor environment has important value,but there are also a series of problems.In terms of control methods,the traditional multi-robot formation methods are mainly centralized control and distributed control.Centralized control has higher requirements for the performance of the host computer,and the multi-robot itself cannot perform motion control,and the overall robustness of the system is poor.,Pure distributed control requires higher mobile robot hardware conditions in practical applications.In terms of indoor positioning,it is necessary to select and verify a high-precision indoor positioning system to achieve the task of formation.This paper has finished the works below:1)UWB positioning technology was used to realize the positioning,encoding and decoding of the multi-robot system;2)Proposed a dynamic network generation method for multiple mobile robots based on UWB positioning technology;3)Designed a formation control algorithm for multiple mobile robots in complex indoor environments based on UWB positioning;4)Designed and built an indoor multi-robot system formation control physical platform,and tested the formation control.