Multi-robot Cooperative Control And Application With Event-based Communication

In recent years,more and more robots were put into practical applications,and the related research of multi-robot system will have greater application value.In practical applications,communication resources are precious and limited,and the use of event-triggered communication strategy can reduce the robot control update and communication burden,which makes it more advantageous.Finite time consistency and fixed time consistency can make the system reach a consensus within a certain time,which ensures the feasibility in real tasks.There is little correlation research between finite,fixed time consistency and event triggered.Therefore,this article has carried on the thorough rese^*ch to this,the main work contents are as follows:Firstly,the event triggered conditions and sequence of events are analyzed,then a controller with finite time consistency is proposed.The multi-robot will track the virtual leader,s state to achieve the desired state.Event triggered communication scheme can reduce the control update and communication burden of robots.This paper presents and proves the theorem of finite time consistency and stability conditions under event triggered communication,and proves the feasibility of the control algorithm by simulation.Secondly,a fixed-time consistent controller is proposed,whose convergence time does not depend on the initial state of multiple robots,which has advantages in practical tasks.At the same time,the theorem and stability conditions of fixed-time consistency under event-triggered communication are given and proved,and the feasibility of the control algorithm is proved by simulation and practical experiments.Finally,by designing and analyzing the decision-making control method with event-triggered communication mechanism,the problem of a group of autonomous robots locating signal sources is studied.In the decision level,particle filter is used to estimate the possible location of the signal source.The estimated position of the signal source gradxially approaches the actual location of the signal with the motion of the robot.In the control level,an event triggered communication conformance cooperation scheme is adopted.The simulation and experimental results show that the decision-making control method based on event-triggered communication scheme is effective in source localization.