The Research On The Control Of Coordinated Operation For AmigoBot

At present, the ability, flexibility and reliability of the single robot have been greatlyimproved to a certain extent. However, with the development of social production, people’sdemand is rising and the single robot is difficult to complete some complex andefficiently processing tasks. In recent years, the research about robot is more and moreabundant, and the research of multi-robot has become an important aspect of robotics. Theswarm-based robotics is a special kind of multi-robot. But compared with the multi-robot, theswarm-based robotics system has strongly superior performance, such asparallelism, flexibility, robustness and so on. As we know, there is the job with division andcooperation in real life, which needs many people to accomplish cooperatively. Similarly, whenthe robot completes a complex task, it needs many robots to realize cooperatively.The research direction of this paper is the coordinated control of the robot, which belongsto advanced control task in the swarm-based robotics system and is the key technology on thestudy of swarm-based robotics system. And an important index for the performance evaluationof swarm-based robotics system is the coordinated operation control. Coordinated operationis widely used in the field of product assembly, transportation and aerospace, etc. So it has veryhigh application value.This paper studies the coordinated operation of two master-slave robots by means ofAmigoBot. And coordinated operation can be divided into coordinated search and coordinatedtransportation. Coordinated search is that two master-slave robots in different positions searchthe target ball synergistically under the case of avoiding static obstacles. And coordinatedtransportation is that the master-slave robots move the ball without falling to the specifiedlocation synergistically in the same environment. Both coordinated search and coordinatedtransportation is continuous. This paper has realized the two kinds of behavior, and simulationwith MATLAB verifies the effectiveness of the methods.This paper mainly completes three aspects as follows:Firstly, coordinated operation needs a certain strategy and scheme to realize, so this papercompares and analyzes some methods of motion planning and path tracking, then the methodsin the process of coordinated search and coordinated transportation are determined respectively and the scheme of coordinated operation is also made.Secondly, the kinematics model of AmigoBot and space environment model of simulationare established. And coordinated search of two master-slave robots is realized by using RRTalgorithm, which is verified the effectiveness by MATLAB simulation.Thirdly, the kinematics model of coordinated transportation is established. And usingRRT algorithm plans a feasible path, after that the reference path is get by the fitting method ofstraight line segments, which can make the robot easy to track. Moreover, the master robotachieves back tracking on the reference path by using fuzzy control algorithm. And the clientrobot realizes for a follower of the master robot, so that coordinated transportation of twomaster-slave robots is completed. The simulation results show that RRT algorithm andfuzzy control algorithm are effective respectively.