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基于超宽带测距的异构移动机器人轨迹跟踪控制

卫恒 吕强 王国胜 林辉灿 梁冰

卫恒, 吕强, 王国胜, 等 . 基于超宽带测距的异构移动机器人轨迹跟踪控制[J]. 北京航空航天大学学报, 2018, 44(7): 1461-1471. doi: 10.13700/j.bh.1001-5965.2017.0526
引用本文: 卫恒, 吕强, 王国胜, 等 . 基于超宽带测距的异构移动机器人轨迹跟踪控制[J]. 北京航空航天大学学报, 2018, 44(7): 1461-1471. doi: 10.13700/j.bh.1001-5965.2017.0526
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)
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)

基于超宽带测距的异构移动机器人轨迹跟踪控制

doi: 10.13700/j.bh.1001-5965.2017.0526
基金项目: 

国家自然科学基金 61663014

详细信息
    作者简介:

    卫恒  男, 博士研究生。主要研究方向:多机器人协同控制、多机器人SLAM

    吕强   男, 博士, 教授, 博士生导师。主要研究方向:自主移动机器人、计算机视觉、神经网络

    王国胜  男, 博士, 副教授, 硕士生导师。主要研究方向:移动机器人控制

    林辉灿  男, 博士研究生。主要研究方向:SLAM自主导航、四旋翼飞行器

    梁冰  女, 博士, 副教授, 硕士生导师。主要研究方向:四旋翼飞行器控制

    通讯作者:

    吕强.E-mail:rokyou@live.cn

  • 中图分类号: TP242

Trajectory tracking control for heterogeneous mobile robots based on UWB ranging

Funds: 

National Natural Science Foundation of China 61663014

More Information
  • 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。

     

  • 图 1  双向测距算法

    Figure 1.  Two-way ranging algorithm

    图 2  双向测距算法实测结果

    Figure 2.  Measured results of two-way ranging algorithm

    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 5  三边测量法的实测结果

    Figure 5.  Measured results of trilateration algorithm

    图 6  四轮全向机器人坐标系

    Figure 6.  Coordinate system of four-wheeled omnidirectional robot

    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 8  轨迹跟踪仿真实验结果

    Figure 8.  Trajectory tracking simulation experimental results

    图 9  轨迹跟踪误差随时间变化

    Figure 9.  Variation of trajectory tracking deviation with time

    图 10  基于EKF crazyflie2.0运行轨迹

    Figure 10.  crazyflie2.0 running trajectory based on EKF

    图 11  多机器人研究平台

    Figure 11.  Multi-robot research platform

    图 12  多机器人系统网络示意图

    Figure 12.  Schematic diagram of multi-robot system network

    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 14  单机器人sin x轨迹跟踪

    Figure 14.  Single robot sin x trajectory tracking

    图 15  crazyflie2.0协同任务实验轨迹

    Figure 15.  Experimental trajectory of crazyflie2.0 collaborative task

    图 16  全向机器人协同任务实验轨迹

    Figure 16.  Experimental trajectory of omnidirectional robot collaborative task

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  • 被引次数: 0
出版历程
  • 收稿日期:  2017-08-11
  • 录用日期:  2017-11-19
  • 刊出日期:  2018-07-20

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