Research On Formation Control And Communication Of Multiple Robots

Along with robot technology development, it is no longer a very difficult matter that design and produce single robot, and the development of the robot technology also express a trend that robot will be small scaled , we also can foresee that the robot of future will have the ability of cooperation, complicated missions is completed by several cooperation robots .The paper's main work lies in a study of multiple robots formation and cooperation , in the meantime, in consideration of communication restriction ,we designed a new protocol for underwater multiple robots formation communication , we hope that it will raise the throughput and efficiency of underwater communication.In this paper we analyzed and study the existing theory of multiple robots formation, and then we designed a kind of mixture type control system structure of multiple robot formation. The purpose is get the advantages of concentrated control and distributed control, raise credibility of formation system and accuracy of formation.When multiple robots really formation, we need to control robot's track and carriage , so this paper designed a new method which used to control the follow path and another new method which used to control the carriage of robots . When robot follow other robot's path, the robot used a cycle buffer to cushion the target point ,then it can improve the speed and accuracy of track following . For the carriage control, we adopt a guide-round based method to raise the carriage accuracy. From the actually two robots formation experiment, we verified the possibility of the new methods.When we designed the protocol of underwater multiple robot formation communication, we mainly designed the protocol of medium access control layer...