| Citation: | WEI Heng, LYU Qiang, WANG Guosheng, et al. Trajectory tracking control for heterogeneous mobile robots based on UWB ranging[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(7): 1461-1471. doi: 10.13700/j.bh.1001-5965.2017.0526(in Chinese)
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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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