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Formation control of mobile robots with UWB localization technology
- Chinese Journal of Intelligent Science and Technology Vol. 1, Issue 1, Pages: 83-87(2019)
- 作者机构：
1. 东南大学，江苏 南京 210096
2. 南京云智控产业技术研究院，江苏 南京 210023
- 作者简介：
- 基金信息：
DOI：10.11959/j.issn.2096-6652.201907
CLC： TP242.6-
Published Online：2019-03，
Published：20 March 2019
- 稿件说明：
移动端阅览
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.
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. DOI： 10.11959/j.issn.2096-6652.201907.
摘要
提出了一种基于超宽带（UWB）定位系统的多移动机器人编队控制算法及系统。UWB定位技术是一种较为成熟的技术，但目前较少应用于编队控制问题中。首先给出了系统框架设计以及机器人的硬件设计，然后对该系统建立数学模型，根据建立的系统模型，设计出分布式控制算法，并且给出系统稳定性的证明，最后仿真实验验证了算法的有效性。
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.
关键词
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references
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