Formation control method for multiple mobile robots on basis of indoor global localization

Abstract

The invention provides a formation control method for multiple mobile robots on the basis of indoor global localization, and relates to the field of robot navigation. Position coordinates of the various mobile robots in formation movement can be computed by the aid of ultrasonic generators and receivers which are mounted on fixed beacons and mobile beacons, real-time positions and posture of the various mobile robots can be acquired, tracking positions and posture of following robots can be controlled, and accordingly multi-robot formation operation tasks on the basis of pilot following typescan be implemented. The mobile robots can be fundamentally localized by the aid of the formation control method during autonomous navigation. The formation control method which is a localization method has the advantages of easiness in deployment, simplicity, practicality, high localization precision, good expansibility and the like. Beside, the formation control method is applicable to autonomousnavigation on each single mobile robot and is also applicable to formation collaboration of the multiple mobile robots, three-dimensional coordinate localization of unmanned systems can be supportedby the formation control method, and enabling technical support can be provided to indoor localization for unmanned aerial vehicles, air-ground coordination and the like.

Description

technical field [0001] The invention relates to the field of robot navigation, in particular to a positioning and formation control method of a mobile robot. Background technique [0002] As an autonomous and intelligent transportation platform and carrier, mobile robots are suitable for dangerous, polluted and extreme environments such as reconnaissance, stalking, search and tracking. Autonomous navigation is the core technology for mobile robots to operate autonomously in unknown and unstructured environments, and positioning technology is the most basic link for robots to complete autonomous navigation tasks. Different from outdoor positioning and navigation technologies such as GPS and Beidou, which are relatively mature in application, precise indoor positioning technology is relatively weak at present, and application fields such as fire rescue, emergency rescue and disaster relief, conflict and anti-terrorism, autonomous docking, and cooperative handling have put forw...

AI Technical Summary

Problems solved by technology

[0007] In order to overcome the deficiencies in the prior art, and aim at practical problems such as low positioning accuracy of indoor mobile robots, limited scope of application, and the lack of effective indoor positioning methods in the field of multi-mobile robot formation control, the present invention proposes a multi-mobile robot based on indoor global positioning The formation control method introduces a new type of indoor global positioning method into the multi-mobile robot formation control problem, aiming at solving the autonomous positioning problem of indoor mobile robots, so as to provide autonomous formation, formation maintenance, active obstacle avoidance, Formation change and target tracking provide an effective, real-time and accurate indoor global positioning method support

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