Research On Fault Tolerance And Stability For Multi-robots Formaion

Mobile robot is an important branch of robotics. And the multirobot coordination is also one important research aspect of the mobile robot. With the continuous progress of robot's technology, mobile robot represent the development of information technology, automation technology, system integration technology to some extent. The research of this thesis makes a deep and systematic study on the multirobot formation control based on the Pioneer 2-Dxe robot which is made by ActivMedia Robotics company. The contents are as follows:The thesis makes a summarize on different research aspects of mobile robot and contrast the different development level of foreign and domestic. Multirobot system and multirobot formation control including fault tolerance in the coordination field are described in detail.The main research of the thesis is to realize multirobot formation fault tolerance control and give a method of analyzing the stability of the formation based on communication. Formation control is a basic branch of multirobot coordination. Facing with the typical faults happen in the motion of multirobot formation based on leader-follower, such as engine fault and network fault, the thesis creat a fault tolerance method based on adjacency matrix, which describes the relative position relationship among these robots in the formation. The formation can be reconfigured relying on adjacency in case the fault happens in the formation. According to this method, the fault tolerance for multirobot formation can be realized. The adjacency matrix is origined from graph theory, on which we start our research in this thesis. Next, the thesis does a lot of research on the stability of formation, which give a theory support for the the reselection of the formation shape after adopting fault tolerance. Therefore,it can keep the formation in a more steady shape.We experimentalize with the simulator on Pioneer II robot and the experiment's results verify that the above strategy and algorithm is correctness and effectiveness.In the end, this thesis makes a summarize about full text and looks ahead the application of multirobot formation control。...