基于UWB局部测量的集群协同平台实现

Implementation of Cluster Cooperation Platform based on adjacent UWB measurement

针对集群协同技术中的自定位与去中心化问题,设计了一套基于UWB局部测量的集群协同平台。平台中单体车采用ROS对运动进行控制,单体车之间通过UWB节点进行通信与位置协同。设计了单体车内通信协议与车间通信协议,使得当集群系统收到目标识别指令后,无人单体车会自主识别目标,根据单体车的当前位置和目标点位置来解算出单体车的跟随路径。在软硬件集成的基础上,对12辆无人单体车组成的集群系统进行了实机验证,验证了该系统可在无GPS/北斗以及地面基础设施的条件下进行位置协同,且不受地面站约束,可实现自主协作与灵活的任务控制。

Aiming at the problems of self-localization and decentralization in swarm collaboration technology,this paper designs a set of swarm collaboration platform based on UWB local measurement.In the platform,ROS is used to control the movement of individual vehicles,and UWB nodes are used for communication and position coordination between individual vehicles.The interior communication protocol and inter-vehicle communication protocol are designed,so that when the swarm system receives the target recognition command,the unmanned vehicle will identify the target independently,and the following path of the vehicle can be calculated according to the current position and target point position of the vehicle.On the basis of hardware and software integration,the real machine verification of the swarm system composed of 12 unmanned single vehicles is carried out.It is verified that the system can achieve position coordination without GPS/Beidou and ground infrastructure,and is not constrained by ground stations,and can realize autonomous cooperation and flexible task control.