Cooperative Control Of Multiple Robot Systems Based On Player/Stage

In recent years, the research of multiple robot systems have become a focus in the research of robot. Compared with single robot, multiple robot systems have the characteristics of robust, stable and economical, which makes its application extended to various fields. The research of multiple robot systems involveing many problems and this thesis mainly focus on analysis of formation control and collision avoidance.In the aspect of formation control, some important methods have been analyzed and their advantages and disadvantages are also compared. A control stratgy based on their pose errors has been proposed. Matlab is used to test and verify the effectiveness of our methods.In the aspect of collision avoidance, an algorithm based on reciprocal orientation has been presented, where the angle is changed by the rotating algorithm, and one coordinate transformation has been introduced, so that the robot can avoid collision by relative position information. Matlab is used to simulate and analyze these two kinds of collision avoidance algorithms.An open-source simulation platform Player/Stage is used to simulate the cooperative control of multiple robot systems, where system structure, working principle, sensor interfaces and establishment of relevant documents have been introduced in detail. The simulation results show that the robots can maintain their formation, avoid obstacles and reach the target point automatically. Our methods can be transplanted to real robots directly.