Research On Communication Technology With Coordination Control Of Multi-robot System

This thesis has mainly discussed the coordination control problem of multi-robots, for the shortcomings of commonly used method of multi-robot formation control, proposed improvement measures. The contents and results are listed as follows.Firstly, this thesis discusses several methods of multi-robot formation control, and for the disadvantages of leader-follower algorithm and the advantages of sliding mode control, designing a sliding mode control algorithm based on leader-follower with the two algorithms. The proposed control strategy is validated on Matlab platform and comparative study with leader-follower algorithm that introduced feedback linearization techniques is conducted. The results show that the sliding mode control strategy designed in this thesis has good control effect and achieves a complete tracking control, improves the robustness of the system.Secondly, for the shortcomings of perception communication, this thesis has introduced explicit communication in perceptive formation control, which is sending data by the way of packing through wireless network. This method can improve the rapidness of control and solve the problem of perceiving blindly. This thesis first analyses two robots' tracking control strategy, and then three robots' forming a rigid triangle formation and the stability of the algorithms are proved by using Lyapunov theory.Finally, results of simulation using the platform of Pioneer3-MobileSim/Aria prove the feasibility and effectiveness of the scheme proposed in this thesis.