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摘要:
针对超宽带(UWB)测距过程中随机出现的奇异值，设计了改进的基于最小协方差的马氏距离奇异值检测模块；针对全向机器人的运动学和动力学特点，提出了一种基于滑模+PID控制的逆动力学前馈轨迹跟踪算法；针对UWB定位算法中出现的坐标跳动、边缘效应以及微型四旋翼的运动学特点，设计了基于扩展卡尔曼滤波(EKF)的轨迹跟踪控制算法；并在MATLAB和Gazebo仿真软件中分别进行了验证。为在实际环境验证轨迹跟踪控制算法的速度闭环控制和位置闭环控制以及UWB定位的实时性、准确性，搭建了基于UWB的异构多机器人系统，完成了四旋翼定点悬停、单个全向机器人轨迹跟踪、异构多机器人协同控制实验。实验结果表明，UWB定位系统和机器人控制算法能够满足控制的实时性和稳定性要求。
Abstract:Aimed at random occurrence of singular value in the process of ultra wide band (UWB) ranging, the traditional Mahalanobis distance detection algorithm is improved, and the Mahalanobis distance singular value detection module based on minimum covariance is designed. Based on the omnidirectional robots' kinematic and dynamic characteristics, the inverse dynamic feedforward trajectory tracking algorithm based on sliding mode control and PID control is proposed. Aimed at the coordinate jump, the edge effect and the kinematic characteristics of the micro four rotor in UWB positioning algorithm, a trajectory tracking control method based on extended Kalman filter (EKF) is designed. In MATLAB and Gazebo simulation software, the tracking control algorithm of omnidirectional robot and nano-quadrotor is verified. In order to verify the real-time feature and accuracy of the closed-loop velocity and position control and UWB positioning for trajectory tracking control algorithm in real environment, a heterogeneous multi-robot system based on UWB was built to complete the nano-quadrotor hovering, single omnidirectional robot trajectory tracking, and heterogeneous multi-robot cooperative control experiments. The experimental results show that the UWB positioning system and the robot control algorithm can meet the requirements of real-time and stable control.
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图 3 基于MCD的马氏距离奇异值检测算法流程图
Figure 3. Flowchart of Mahalanobis distance singular value detection algorithm based on MCD
图 4 基于稳健马氏距离奇异值去除之后的测距结果
Figure 4. Ranging results based on robust Mahalanobis distance after removal of singular value
图 7 基于UWB的crazyflie2.0自主控制流程图
Figure 7. Flowchart of crazyflie2.0 autonomous control based on UWB
图 13 crazyflie2.0定点悬停UWB实测结果
Figure 13. Measured UWB results of crazyflie2.0 fixed point hovering
图 15 crazyflie2.0协同任务实验轨迹
Figure 15. Experimental trajectory of crazyflie2.0 collaborative task
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