Multi-mobile-robot high-precision collaborative tracking method based on ultra-wideband technology

Abstract

The invention discloses a multi-mobile-robot high-precision collaborative tracking method based on an ultra-wideband technology. The method comprises the following steps: a multi-mobile-robot collaborative tracking experiment platform is built under an ROS; a multi-node ranging network is built through an ultra-wideband sensor, and information of the distances between robots and between the robots and an anchor point is obtained at the same time; an ultra-wideband ranging error weakening algorithm based on Bayesian filtering is provided for effectively weakening LOS and NLOS errors of obtained ranging values to restore real distance values; position information of the mobile robots is estimated by adopting a cooperative tracking algorithm, namely, a collaborative particle filtering algorithm based on Gibbs sampling; and real tracks of corresponding motions of the robots are obtained by adopting an OptiTrack motion capturing system, and a collaborative tracking algorithm is evaluated. The LOS and NLOS errors in a complex environment can be effectively weakened; the restored distances are real; the position information of each robot at any moment can be accurately determined; and multi-robot collaborative tracking is realized.

Description

technical field [0001] The invention belongs to the technical field of autonomous navigation of multiple mobile robots, and in particular relates to a high-precision collaborative tracking method for multiple mobile robots based on ultra-wideband technology. Background technique [0002] Autonomous navigation is a mobile robot that uses its own sensor (odometer) and external sensor (vision) to perceive the surrounding environment and its own state without human participation, and realize the movement towards the target in an environment with obstacles. Fundamentals of autonomous locomotion in robots. The robot's autonomous movement ability is an important indicator of the level of robot intelligence, and advanced navigation technology determines whether it can better serve humans. Therefore, in the face of complex and changing environments, only by designing an effective autonomous navigation system can the mobile robot effectively complete the task. Tracking and positioni...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the deficiencies of the above-mentioned existing technologies, the purpose of the present invention is to provide a high-precision collaborative tracking method for multiple mobile robots based on ultra-wideband technology, which can estimate the precise position information of multiple robots at any time, and solve the problem of multiple mobile robots in complex scenarios. It is of great significance to track and locate technical problems that are difficult for robot systems and apply them in real scenarios

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