Research on Distributed Positioning Algorithm of Swarm Robots Based on UWB Ranging

摘要

Traditional swarm robots mainly rely on a single GPS for positioning. Complex environment or the failure of the GPS receiver may cause some robots cannot be located because their GPS signals lose, so cooperative positioning of swarm robots is required. Due to the heavy information transmission task of the centralized algorithm, the positioning accuracy will decrease, and the robustness of the entire network will be reduced. Therefore, A distributed collaborative positioning algorithm based on UWB ranging is proposed. In the case of GPS loss of some robots, it uses centroid coordinates to represent the position relationship between known nodes and unknown nodes based on the GPS observation information of other robots and UWB ranging information between neighboring robots and performs distributed iterative estimation of the position of each robot, achieves the position of swarm robots. Compared with centralized algorithms, the positioning accuracy of the system is improved. The convergence of the algorithm is proved and the simulations show that compared with the traditional MDS algorithm, the proposed algorithm improves the positioning accuracy by 13.31%.