Formation Control Of Multi-small Vehicles And3D Realtime Simulation

In recent years, with the development of science and robot technology, robotintelligence continues to increase and widely used in more aspects. Make a greatcontribution to economic development and social progress. Along with the improvingcomplexity of the work and the environment, using a single robot is difficult to dealwith, so multi-intelligent robot coordination become an important area of roboticsresearch and development. Multi-intelligent small vehicles fleet as an importantdirection of multi-intelligent robot coordinated control has broad application prospectsin industry, agriculture, military and many other fields.Currently there are two mainly research aspects of multiple mobile robotsformation: path planning and formation generation. Common path planning methods are:artificial potential field method and genetic algorithm. Formation control method formultiple mobile robots are mainly the following: Leader-Follower method, Behavior-Based method and the Virtual Structure method. In this paper, an improved Leader-Follower method is presented. Introducing a virtual robot (VR) to assist the formationof multi-intelligent small vehicles. Establish the continuous kinematics model based ontwo-wheels intelligent small vehicle and design the formation controller by virtual robottracking method.In consideration of the actual system, the control signals of intelligent small vehicleare discrete, establish the discrete model of multi-intelligent small vehicle system, anddesign the formation controller by virtual robot tracking method. The communicationbetween the multi-intelligent small vehicles is through network. Due to thecharacteristics of network, the network delay and packet loss problems are inevitable incommunication. In order to reduce the impact of these adverse factors, introducing apredictive control mechanism to improve system performance.Finally, design a networked real-time3D simulation platform. Through3Dtechnology, flash technology and virtual reality technology, this simulation platformallows the user to build a immersive virtual laboratory. Users can perform experimentsremotely via a web browser. This can be a good experiment platform for multi-intelligent small vehicles simulation system.