Study Of Multiple Mobile Robots In Fomation

With the rapid development of robot technology, the number of robots has incr eased constantly. In the resulting robot group, there will be various relations, mutual restriction and cooperation among robots in the future just like human society. O ur scientific researchers need to view this issue from the point of development and m ake corresponding research work in time to meet the arrival of the era.Scientific researchers make intensive study on such issues as multi-robot cooper ation, information fusion, collision avoidance among multiple robots and so on. Am ong them, the multi- robot cooperation issue belongs to a system one, which can bre ed many scientific research branches like multi- robot formation, path planning, obsta cle avoidance, and hunting, etc.The project makes in-depth study on multi-robot formation issue. For the prese nt, the problems need to be solved in multi-robot formation include how to initializ e and establish a formation model, how to keep it after the success of formation, h ow to avoid mutual collision among robots in motion or to avoid obstacles in the s urroundings, how to change the formation to adapt to the environment, how to mak e reasonable formation in different environment and so on.Also the research object and method are different. For example, there is distrib uted structure, centralized structure, homogeneous or heterogeneous robots, method b ased on fuzzy control or sensor network.Therefore,to find a suitable area in numerous scientific research areas and mak e constant study is very important. The project mainly studies the problem of forma tion of multiple homogeneous mobile robots in a distributed structure based on visio n.The main work includes the following aspects:(1)A platform of mobile robot was built, possessing the visual processing fun ction, networking function and servo function.(2)The software part, consisting of servo control for mobile robot, robot visu al processing analysis and the way of multi-robot communication, was studied comp rehensively.(3)The formation experiment of three mobile robots was implemented with th e idea of Leader-Follower.(4)The PID parameter setting and experimental data fitting were conducted us ing MATLAB.