Design and implementation of multi robot research platform based on UWB

Abstract

Based on the ultra wideband (UWB) technology in the Ubuntu robot operating system (ROS) framework to build a centralized distributed multi robot research platform. Based on the UWB chip, a bidirectional ranging module is designed, and the singular value removal module based on the minimum covariance determinant (MCD) Mahalanobis distance detection algorithm is designed for the singular values in the ranging process. The extended Calman filtering optimization module is designed to solve the problem of excessive coordinate jump and edge effect in three edge location algorithm. ROS communication network is constructed based on multi master design, and the entry and exit mechanism, so that when a robot failure will not affect the operation of the whole system or after the completion of the task can exit the system to reduce the burden of the central processor. Finally, the kinematics and dynamics model of omni-directional robot based on the design of inverse dynamic compensation control strategy of synovial control combining with PID control, and complete the single robot trajectory tracking experiment and multi robot formation mission experiment.