Research On Formation Control Of Mecanum Wheel Mobile Cars Based On UWB

With the development of mobile robot technology,multi-agent technology,which is a research hot topic of distributed artificial intelligence,is introduced into the field of robotics.The main idea is that multiple agents cooperate with each other to decompose large and complex systems into small systems that are easy to manage.An important research in the multi-robot system--the formation of multiple mobile robots,under the increasingly complex task requirements,has absorbed the idea of multi-agent technology as theoretical support,and has been widely used in agriculture,industry,and military.At present,the commonly used positioning technology in the formation of multiple mobile robots is GPS positioning technology,but the indoor positioning effect is not good.This paper studies the ultra-wideband(UWB)positioning technology,which has the advantages of high accuracy and wide range in indoor positioning.The UWB positioning system is designed as a communication bridge.Based on the Mecanum wheel mobile car system,the formation control algorithm is studied to build a UWB-based multi-agent control platform.Realize the formation of multiple mobile cars.The main research contents of this article include:Firstly,the definition of UWB and its technical characteristics are introduced,and the principles of UWB ranging and positioning are analyzed in detail.Combining machine learning and UWB positioning technology,a UWB positioning method based on Long Short Time Memory(LSTM)is proposed.UWB positioning based on machine learning is analyzed and experimented.Secondly,the formation control algorithm of the mobile car is analyzed and simulated.Five main formation control methods are introduced,and simulation experiments are carried out on the formation control method based on the virtual leader to verify the reliability of the formation method.Finally,a multi-agent system control platform was designed.The Moebius circuit board was selected as the main control board,and the control system of the Mecanum wheel mobile car was designed.The UWB positioning system was designed and QT was used to control the upper computer software.Designed and realized the position calculation.In addition,detailed experiments and analysis were carried out on the positioning,communication and formation of the multi-agent system platform.The positioning accuracy,real-time communication,and formation stability were analyzed.The formation and team movement and maintenance of the Mecanum wheel car group are realized.