Research On Multiple Robots Formation Control Based On Communication

With the continuous progress of robot technology, mobile robot represents the achievement of the development of information technology, automation technology and system integration technology. Mobile robot is an important branch of robotics, and the multiple robots coordination is also an important research in the area of mobile robot. The collaboration control of multiple robots can complete complicated missions much better than single one, which can improve working efficiency. Two tasks of multiple robots collaboration control are discussed in the thesis. The first one is formation control of multiple robots, and the second one is a new collaborative control system of multiple robots based on mobile multiple robots communication technology.Two common communication technologies of mobile multiple robots system are discussed in the thesis, the layer of mobile multiple robots network is classified according to ISO/OSI 7-layer model and TCP/IP model based on the characteristics of mobile multiple robots network, and a middle layer problem is proposed, which is added between message layer and communication layer. According to the characteristics of mobile multiple robots network, a mobile multiple robots communication platform is designed to provide a blackboard mode and point-to-point mode.Mobile multiple robots formation control method is proposed based on communication to realize multiple robots formation fault tolerance control. Formation control is a basic branch of multiple robots coordination control. According to possible typical faults in the motion of multiple robots formation based on leader-follower mode, such as mechanical fault and network fault, a fault tolerance control method is proposed based on adjacency matrix. The relative position relationship of the robots in the formation is described by adjacency matrix. Once the fault is detected in the motion of the formation, the substitution sequence of formation will be searched using heuristic search algorithm , the fault tolerance substitution algorithm will be processed, the formation will be reconfigured by using the variety of adjacency matrix. Accordly, the fault tolerance control can be realized.