Research Of Control Strategy For Multi-robot Formation Based On Wirless Sensor Network

With the fast development of the technology of the wireless conmunication andmobile robot, using of the single robot cannot be contented to some special fields. Inorder to improve the efficence and captability of the mobile robots, obviously, it isquite significant to research the Multi-robot system with composing of formation tocomplete the enmergency work collaboratively. In this paper, it is research theproblem that Multi-robot keep the stable formation to drive to destination, which isthe basic of completing the formation work and collaboration work. This researchhave an overwhelming importance to the theory and reality application.First, the hardware and software platform are built. In aspect of hardware, theWireless Sensor Network’s hardware and the mobile robot systems’ hardware aredesigned well which are based on the collection of the geomagnetic signal to helpthe mobile robot find its position, and also the motor’s drive control circuit is built;In aspect of software, the Wireless Sensor Network’s platform is built. The ZigBeenetwork has been completed, and through deeply researching the Z-Stack protocolfor transplantation laterly, the wireless network structure which is based on theZ-Stack protocol, has been built, so it is given the foundation for embedded theformation algorithm.Second, the location method has been designed in the Wireless Sensor Network.After, comparing with kinds of methods for location, the method based on ReceivedSignal Strength Indicator(RSSI), has been choosen in order to solve the problem ofmobile robot’s location, and the location process has been designed byCC2431within the Location Engine, which is so important that fulfilling theformation algorithm is quite well.Again, to control the Multi-robots’ the driving status, the kinematics model hasbeen built, and on the basis of that, the improved method of Leader-Follower hasbeen designed, and the controller for keep the formation stabely also has beendesgined. In this controller, the fuzzy control theory has been adopted for decisionwhere the Follower robot to go when the error occur in the formation. After thesetheory researching, the process of the formation is fulfilled, and the simulation forthe former algorithm and the kinematics model has been conducted, and after theanalysis of the simulation result, the algortithm and the model has been verifiedeffectivity and feasibility.Finally, the real experiment platform is designed on the basis of WirelessSensor Network in order to do the experiment. The Leader and Follower robots’formation algortithm must be embedded in the Z-Stack protocol, at the same time, the network and the monitoring interface on PC for monitor the status of theformation must be built; at the different condition, do the experiment about the basicformation of mobile robots formation, furthermore, inspected the design of theformation algortithm efficectively. After the experiment, the result indicate that thealgortithm is effective and feasible, and the formation is stable and the error is sosmall, what’s more, the recovery time of the fall behind one is too short, so theformation control algortithm is rather successfully and fulfill the expected goal.