| In the research of multi-robot systems, the multi-robot coordination is a well-attended and essential topic. On the one hand, multiple robots have to rely on mutual coordination and collaboration to carry out some complex tasks, due to the limit capability of single robot. On the other hand, mutual coordination among robots will enhance the working efficiency of the robots system. This article makes a deep and systematic study on the multi-robot formation based on the Pioneer 2-Dxe robot which is made by ActivMedia Robotics company. The contents are as follows:Firstly, the thesis contrasts the foreign development situation with that of domestic from the mobile robot's history and current research. Then we simply introduce the software and hardware properties of mobile robot and make a detailed discussion about the multiple mobile robots.Next, based on the flocking control theory, two control strategies about agent are put forward in the thesis. Then, the introduction of"virtual force"concept made it possible to use dynamic law to explain,analyse and design the control methods converted from agent to mobile robot.Based on the formation control algorithm of multiple mobile robots, the introduction of graph theory makes formation linked with matrix, so we can describe the formation of multi-robot with adjacent matrix, and give a fault-tolerance control algorithm about formation.Finally, due to fault-tolerance control is actually formation stability, and based on the advantages of quantification errors with Input-to-State Stable theory, the input of leader is linked with internal state, the stability of series formation and parallel formation are respectively analyzed after the establishment of internal dynamic equation. Results of the experiment verify the correctness and effectiveness of the strategy and algorithm mentioned above. In the end, this thesis makes a summary about full text and looks ahead the hot topics of multi-robot formation control. |
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