Research Base On Multiple Mobile Robots Formation Controlling Task

Trough twenty years exploration and development by scholars from every country, multiple robots coordination had occupied an important position in national def ense, military affairs, industry, and mankind daily life. It seems that the research for multiple robots coordination had already been a hot topic in robot do main. In order to m ake the multiple robots system complete tas ks more efficient, using more reason able motion plans and coordination m ethods also been a target for many scholars besides selecting more precise robots and sensors. This artic le used vehicle robot as studying object and perception of sensors as background, anal yzed and studied fix ing position by m ultiple robots, formation controlling and avoiding methods and etc.Building multiple robots coordinated system model is a basic problem for formation planning process, this article analyzed several coordinated syste m(world coordinates, robots local coordinate and sensor coordinate syste m), then built the m ultiple robots coordinated system. And help robots in th e system learn the environm ent around them sufficiently through analyzing the position estimation model of sensors(odo meter) in robots and data model of outside sensors(l aser distance m eter). Combined with the sensors equipped by the experi mental platform which selected in this article, proposed a method base on relative position observation for multiple robots coordinate to fix position, this method can get the relative position a nd angle infor mation between follower and leader directly by interacting vision method and laser distance meter.In the aspect for m ultiple robots formation controlling, this article built a "lead-follow" structure model, transformed the formation task into trac king virtual followers’ real time position through introducing the concept robot "virtual follower", and designed a formation controlling algorithm which is base on kine matics controller to make the multiple robots system generating the expecting formation finally.In the environment with obstacles, c onsidered the environment constraints in th e process of for mation control, I studie d an i mproved method for dynamic for mation transform, selecting formation transform model by themselves(zero transform, formation shrinking transformations and structure tran sformation) to get the best topological structure in order to take the advantage of team for robot formation easier.In studying process, I took a series of testing and experiments for the theoretical results by MATLAB and HR-I experiment platform, the result shows that this article has certain theoretical significance and practic al value for res earching multiple robots coordination field.