Multi-robots Coordination And Collaboration Technology Of Research

This essay give a detail introduction of robot system’s research situation, progressand problems, based on this, discussing about structure and composition multi-robotsystem.When research the movement problem of robot, we build dynamics equation, making3DOF robot our research object, getting the right dynamic solution of robot(the originalposition of robot), deducing the inverse kinematics solution. Then it discuss about theJacobian matrix based on the normal and inverse solution, then make use of matlabsoftware to count and draw working zone of robot. Based on this, it analyze the possibleposition of robot terminal, finally making an track planning of working path for robotterminal.Aimed at traditional artificial potential field, this essay points out the destinationunreachable and local minimum point problem in steady state, solving the destinationunreachable problems by changing repulsion potential field function; It also solving thelocal minimum point by introducing the strategy that robot walking along the barrierborderline. And it uses the manual potential field method in avoid algorithm thatmulti-robot and statistical setting barrier (robots are seen as barrier for each other), bygiving consideration of barrier in different direction, to improve movement track and tomake the track near to the optimal path. Finally use Visual C++software to realizerelated simulated result.This essay introduce the application and realization method of OpenGL, by using ofOpenGL software’s drawing function, building model for robot, and use MFCobject-oriented program designing method to build multi-robot simulated platform. Then, it introduce A star finding way arithmetic theory and its application in robot field, thenraising a difference direction controlling method based on activity, that is set robot’smovement as all direction movement, mixing two wheel ideal, which make one robot asleft wheel, while another robot as right wheel, the movement information reflect on thetwo wheel. Because of this, this essay give a detail discuss about carrying stick inmulti-robot system, whether the stick fall down in the process or different with the aim.At last, in the multi-robot simulated platform, mixing difference directioncontrolling method based on activity and A star arithmetic, realizing multi-robot carryingcooperation. In this way, it not only get the best path of multi-robot cooperation carrying,but also making a geometry planning, solving the falling down problem and disorder inthe robots, and give the movement information in area. The simulated result proves thepossibility and rightness of the cooperation arithmetic. This has enough value for theproduce and design of robot.