Design And Realization Of Multi-Robot Networked Cooperative Control System

The control system of 21st century will be the combination of network and control theory, and it is the focus of current research. The networked, integrated and distributed characteristic of networked control system (NCS) reveals the development trend of control system. Therefore, it is practical to make research in this field. As the development and maturity of networked control theory, networked multi-robot cooperation becomes a focal point that combines networked control and multi-robot cooperation technology. This article mainly addresses the resource scheduling of NCS system and realizes an experimental multi-robot cooperation platform.Firstly, the concept and model of networked control system is given. After that, the article makes an analysis of its advantages and disadvantages. After that, the basic concept of real-time task scheduling and the typical scheduling theory and methods of periodic task, including real-time scheduling theory like RM and EDF, non-periodic scheduling theory, feedback theory, are presented. Resource scheduling can largely reduces the network delay's influence on system performance. Following that, the character of network scheduling and data transmission of NCS is analyzed. And finally, the article presents the method and character of resource scheduling using rate-monolithic theory.Secondly, the article introduces networked multi-robot cooperation system, discusses the design and system architecture of networked multi-robot system. Following that, the possible collision problem along with the movement of the robot is discussed in detail. The anti-collision method is given.Finally, a networked multi-robot cooperation system designed based on a "capability storm" research robot produced by ShangHai Grandar ltd.. The article gives the detail design of the AS-R to upper computer communication sub-system, the close-loop control algorithm, the vision sub-system, the control panel sub-system. Subsequently, the results of the experiments are given, which proves the validity of the design.