Research On Consensus And Formation Control Of Swarm Robots

In recent years,with the task and the working environment of robots becoming more and more complex,the capacity of traditional individual robot and multi-robots in information acquisition and processingis limited,and their development exist some bottleneck.The swarm robots which are inspired by colonial organism have simple structurea and low cost,and easy to design and manufacture.Moreover,the scalability,flexibility and robustness of swarm robots have greater advantages.So the swarm robots have very broad application prospects.In this paper,the swarm robots consensus and formation control algorithms were studied.Specific studies and results primarily reflected in the following aspects:(1)The swarm robots consensus algorithms of first-order and second-order system were introduced based on algebraic graph theory and matrix theory.As the existing literature rarely consider about the consensus algorithm with input constraints,the consensus algorithms with input constraints of first-order and second-order system were given.Via Lyapnov stability criterion,the stability of the algorithms with input constraints was proved.Many simulations were done by using MATLAB to validate the accuracy of the consensus algorithm.(2)The swarm robots formation control algorithms of first-order and second-order system were studied.Based on the consensus algorithm with input constraints,the swarm robots formation control algorithms with input constraints of first-order and second-order system were proposed.Finally,from the simulation results of the above algorithms,it can be found that the formation control algorithms with input constraints can effectively improve the existing algorithm,and can be used better in practice.(3)The formation control algorithm based on leader of swarm robots was proposed.The formation navigation control method based on leader of swarm robots was also proposed.The hierarchical control strategy was used to the method,which was divided into:the target layer,the leader layer,and following layer.The effective navigation control can be made for swarm robots system which contains multiple subsets by this method.(4)A multi-function,low cost and modularized swarm robots experimental platform was developed.And the experiments of swarm robots control algorithms which were given by this paper were done by the experimental platform.The relevant data were collected and transmitted to the computer through the sensors,and the corresponding curves were drawing.The correctness and practicability of swarm robots control algorithms which were given by this paper were verified by the experiments.