| With the development of the multi-robot coordination, the working efficiency of the multi-robot system is improved, and the tasks can be finished better. Multi-robot coordination is one of the important issues for the research of mobile robot. The research of formation control of multi-robot will improve the efficiency of the coordination of multi-robot. The multi-robot communication and formation algorithm are researched in this thesis.Firstly, the development of mobile robot is summarized, and the main research aspects of multi-robot are analyzed. In this paper, a new mode of communication is provided to leader and follower robots. It is implemented by sending data pack by wireless network.The formation control based on pioneer3 mobile robot communication and leader-follower architecture is analyzed. And a model of leader-follower formation control is provided. The follower goes to the destination by receiving the information from the leader and deduces the control parameters and the formation is formed. More, the path planning of multi-robot is provided, the robots of formation system can reach destination smoothly with the right formation.In the experimentation, the control platform of pioneer3 mobile robot is described. And experiments of multi-robot communication and formation control are made. The result shows the principle of communication and formation algorithm is correct and available. |
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