Multi-robot Coordinated Motion Control Systems

With the development of science and technology, mobile robotics and its application technology continues to improve, a single robot can not meet the requirements of complex automation tasks, multiple robot collaboration technologies is an urgent need to address the problem. Research on Multi-robot systems and on multi-robot coordination is an important theoretical and practical significance work. The main objective of this paper is to study the coordinated motion control on bearer robot, and design a superior control scheme for the two robots, including navigation and positioning, motion control algorithms, structural design and circuit design.In the bearer robot system, Coordination between the two bearers is a prerequisite for completing the task quickly and smoothly. However, there has no direct communication between the manual robot and the automatic robot, the movement coordination between them becomes a problem. To solve this problem, we installed a short-range ultrasonic sensor on both the manual bearer robot and the rod, to detect the automatic bearer robot's relative motion to the manual bearer robot, and to feedback position information timely of the automatic robot to the control system of the manual robotThe bearer robot system use 32-bit ARM microprocessor chip LPC2990 and LPC2131. To improve the multi-tasking capabilities of the control system, processors were embedded in real-time operating system by means of master- slave mode. Master processor LPC2990 responsible for the task scheduling, human-computer interaction, sensors and control external circuits. While slave processor LPC2131 oversee the control unit of the bearer robot, and receiver data signals transmitted by incremental encoders, gyroscope, and ultrasonic sensor,and calculate the robot's current location in the global coordinates.