Multi-Agent Formation Control Of Mobile Robots Based On UWB Positioning Technology

Under the rapid development of artificial intelligence and autonomous driving technology,mobile robots are also applied to various fields to replace people to do more and more complex tasks.In some specific application environments,the tasks to be completed by robots tend to have great distribution and complexity,which may be impossible for a single robot to complete.Therefore,the multi-agent systems that realizes formation control through multi-agent communication and new control technology will also be an important research direction in the future.Aiming at the task requirements of multi-agent cooperative application,this paper deeply studies the stability of input saturation in multi-agent formation systems and its formation control technology,which provides theoretical support for the promotion and application of multi-agent systems in medical service,cargo handling,and other fields.In the application scenario of multi-agent systems,the location and communication of its members need to be considered.Based on UWB positioning technology,this paper mainly studies the control problem of obtaining leader’s information for a class of nonlinear second-order consensus formation obstacle avoidance systems with input saturation constraints under different conditions.The main research contents are as follows:(1)For the second-order system with actuator saturation,two kinds of leader-follower formation control algorithms are designed,and sufficient conditions for formation realisation are established.Specifically,the first study is the formation control problem,in which all members can obtain the reference information of the leader under an undirected graph.The second case is that under the directed graph,only a subset of the system has access to the leader’s information,and the upper limit of the protocol is independent of the number of neighbours.Lyapunov functions are constructed to prove the formation properties of the closed-loop system.An improved artificial potential field method is presented to improve the collision avoidance ability of multi-agent formation systems,and the corresponding improvement is made in the face of unattainable targets and local extremum problems in the course of obstacle avoidance.Numerical simulation verifies the effectiveness of the proposed algorithm.(2)Aiming at the limitation that the designed formation control algorithm with actuator saturation depends on the communication topology,a hierarchical iterative formation control framework with high-level information interaction and low-level control design is proposed.The effectiveness of the proposed algorithm is verified by numerical results and experiments.(3)An experimental platform was built based on UWB positioning system,and the multi-agent formation control algorithms with actuator saturation were deployed.In the real test environment,the positioning test of the positioning system and the multi-agent formation experiment are carried out respectively,and the effectiveness of the system is verified.