The Formation Control And Cooperation Research Of Robot Based On MAS

As robots science and technology development , the people in robot research unceasingly thorough, and the application of robots are also increasing widely. The traditional and single robot system no longer satisfy people's needs, and mutual cooperation multi-robot system has many merits, has become a robot research hotspot,and formation control is an important research direction among multi-robot operation system.Firstly, this paper introduces the multi-robot operation system about development, content, character etc, discusses the relationship of formation control and cooperation system, and learns the robot system structure, and focuses on analyzing the objectoriented hierarchical control architecture of collaboration, and designs a structure that suitable for formation control system.Secondly, in view of the phenomenon that robots formation control often failure and lost under the complex environment , combines the method of pilot and behavior,and put forward to tracking chain mode through obstacles strategy, incorporates the independence and coordination, and enhance the robot in complicated environment adaptiveness, at the same time foresees active avoiding barriers that reference human's experience in the avoidance activities obstacles.Again, aiming at the robot formation shape method of the problems in research. The current formation method consider less about faster and rationality , and how to form formation in short period of time and avoid collision as far as possible, then puts forward a method that maximum of minimum distance priority target location distribution, which constructs the robot and target position matrix, and analysis by mapping, and convenient robot analyzes the data, rapidly determinae the reasonable target location. In addition, during the formation, the application of the fuzzy control theory, and based on human experience formulate fuzzy rules, allowing robots flexible avoiding obstacles and success of designated formation.Finally, by the laboratory humanoid robot soccer as the research object, in view of the difficulty in humanoid modeling,which formulate the robot's formation reference rules, and construct robot formation information repository, and depending on the limited sensor information, then propose a method that base on master-slave knowledge lenovo parallelogrammic,it is easy to get the next target location information for current robots, and then get the motion vector, the robots formation will get a good control effect on the condition that accuracy is not high. In addition, using fuzzy control to avoide obstacles in the formation control.