| Compared to single robot, systems of multiple robots enjoy higher reliability and capability of self-organization. Multi-robot system can complete complex tasks that cannot be accomplished by single robot and can be more efficient. To gain the ability of execution and the robustness of system, the structure of single robot in the group is usually different.Formation is one of the fundamental problems in multi-robot systems. To study hybrid formation control of multi-robot system, a car-like mobile robot is developed, which is organized to be a multi-robot system with two other differential mobile robots. To improve the mobility of the car-like mobile robot, a high-performance frame is selected. A sensor system is fixed which combines encoders, ultrasound transducers, GPS, IMU (inertial measurement unit), laser radar and camera. The underlying sensing system and motion control system based on micro controller are designed and achieved. The upper level controller is based implemented on an on-board computer. Communication within and between mobile robots is designed with Ubuntu and ROS.The navigation and positioning system is developed based on GPS and IMU. The teleoperation system based on joystick is developed. The kinematic equations of car-like mobile robots and differential mobile robots are analyzed. The kinematic equations of formation system with the structure of Leader-Follower are analyzed. A triangle formation controller is designed with input-output feedback linearization. This controller is proven to be effective and reliable through software simulation and hardware experiment.The car-like mobile robot developed can be applied in fields of industrial inspection, mobile assembly line, smart car, etc. The developed hardware experimental platform could be used in the research of other cooperation problems in multi-robot system. |
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