Study On Control Of Heterogeneous Multiple-Robots' Formation In Public Environment

Whether the different types of robots can reliably and efficiently serve the public is the key technology of heterogeneous multi-robot service work. Therefore, starting with the heterogeneous service robot, the environment characteristics and the operation mode are analyzed, and the self-organization localization method in complex environment is proposed,so is the formation algorithm.Firstly, to the problem that fixed localization method is not well suitable to various systems, a heterogeneous multi-robot self-organizing localization method merging with dominating competition mechanism is proposed. The proposed system can timely re-organizing the localization methods according to environmental changes, failure and recovery degree of positioning sensor and reliability changes. At last, the optimal positioning method which is simple and robust is selected. This method behaves well in validity,practicability and robustness.Secondly, to the running model of heterogeneous multi-robot in terminal, a new formation coordination control method of heterogeneous multi-robot is proposed. The method based on the relative UDP network and vision method is proposed, the algorithm can improve the deadlocks of traditional leader-follower formation methods, when the Leader robot is out of control, other robots can be a new leader after their negotiations, it can improve the robustness of multi-robot formation.Finally, based on the key technologies and methods, develop a heterogeneous multi-robot system. The results show the localization and formation methods are not only effectiveness but also practicality. A new idea is provided based on the above work.