An Integrated Design of Cooperative Localization and Motion Control

Abstract

With the development of Internet of Things (IoT), localization technology and motion control, as key issues of the research of mobile robots, are getting more and more attention. In this paper, we focus on a multi-agent network where each agent can get distance and angle information by Ultra-WideBand (UWB) measurements, and all agents are supposed to complete a formation task distributively. First, we propose a hierarchical cooperative localization and motion control framework in the Global Navigation Satellite System (GNSS) denied environments; Second, we improve the positioning accuracy by cooperation between agent nodes and information fusion from multi-agents by Kalman filtering algorithm; Third, we propose a motion control algorithm which guarantees smoothness on speed and angular velocity with low computational complexity.