Coordination Of Multiple Mobile Robots Control

In this thesis, based on the background of the wheeled mobile robot cooperation control, the multi-robot team formation is studied. Multi-robot cooperation will be relevant to much knowledge such as information sharing, route searching and control strategy and so on. The current control methods on the research of multi-robot team formation are summarized. One program for keeping arbitrary shape of multi-robot —tracking method is proposed. Specific algorithm of evading collision and tracking is realized. The problem of dead-lock is resolved by setting PRI, and the problem of some robot's invalidation in team formation is resolved by adopting layer-switch method. By using the technology of wireless communication, the mechanism of transferring state information and control information between robots is analyzed; The problem on robot evading obstacle during marching is learned and the red obstacle is inspected by using YUV color model. Aiming at the experimental mobile robot, the marching route such as walking straightly or walking roundly, is corrected by adopting parameter marching so that the multi-robot can move in the predicted information. Lastly, several complicated points about cooperation control are put forward and the future in this field is prospected.