The invention discloses a multi-mobile-
robot high-precision collaborative tracking method based on an ultra-
wideband technology. The method comprises the following steps: a multi-mobile-
robot collaborative tracking experiment platform is built under an ROS; a multi-node
ranging network is built through an ultra-
wideband sensor, and information of the distances between robots and between the robots and an
anchor point is obtained at the same time; an ultra-
wideband ranging error weakening
algorithm based on
Bayesian filtering is provided for effectively weakening LOS and NLOS errors of obtained
ranging values to restore real distance values; position information of the mobile robots is estimated by adopting a cooperative tracking
algorithm, namely, a collaborative
particle filtering algorithm based on
Gibbs sampling; and real tracks of corresponding motions of the robots are obtained by adopting an OptiTrack motion capturing
system, and a collaborative tracking
algorithm is evaluated. The LOS and NLOS errors in a complex environment can be effectively weakened; the restored distances are real; the position information of each
robot at any moment can be accurately determined; and multi-robot collaborative tracking is realized.