Formation control of multi robot based on UWB distance measurement

Robot formation control is the foundation of multi-mobile robot system. In view of the shortage of traditional formation control algorithm and the large network traffic of multi-robot, a formation control strategy based on state switching is proposed. The three kinds of traditional algorithms are compiled in a modular way, and then a state switching triggering mechanism based on composite information is designed. The reasonable selection of one or more formation control algorithms by the state of the robot and the surrounding environment and the timely triggering of the control law effectively reduce the complexity of the multi-robot formation control algorithm and reduce the communication burden on the robot. At the same time, a formation feedback mechanism based on UWB (Ultra Wide Band) ranging is proposed. UWB data structure is simple, which is convenient for processing on the micro-mobile robot and realizes the maintaining and feedback on the formation in real time. Finally, a multi-mobile robot platform is built, and the proposed strategy is applied to real robots. Multi-robot formation tracking and formation obstacle avoidance experiments are carried out, and the effectiveness and robustness of the proposed algorithm are verified.