The Platform Design Of Multi-robot Formation And The Key Technology Development

Multi-robot systems due to its higher fault-tolerance and redundancy,can accomplish the task which is difficult or unable to complete for single robot system,and can perform a wide range of change of the task more efficiently,in the regional search,coordinated transport,joint operations,etc all can obtain better task implementation effect.Now in both industry and military fields,multi-robot coordination workswith a high attention and attracts more and more researchers.Multi-robot collaborative formation is a key technology,and how to real-timely maintain appropriate team formed in operation is the important factor of whether to accurately to complete the task.Formation is the research on the algorithm,when applied to the actual formation it needs to achieve three basic conditions: the robot's autonomous positioning,communication between robots,and the perception informationaroundly.In this paper,based on the robot formation need to set up the system of robot team formation,to meet the demand of formation of each machine per capita can,according to their own dead reckoning by the odometer around use their sensors' information,at the same time to realize the multi-robot communication interaction between,in terms of robot autonomous joined the robot visual tracking and path planning function.Set up multiple robots with kinds of sensors,such as encoders and gyro which can complete its positioning,Kinect which can get depth image,rplidar which can get around information.Based on ROS?s distributed node communications,provide the necessity of premise for multiple robots work together and formation.Implement multi-robot formation algorithm.Using the robot's visual information,processing algorithm based on computer vision,realize the robot from the vision of certain goals to the movement of the track.Paper finally achieved with independent functions of multi-robot formation research platform,and the formation,visual tracking,it studies the functions about the navigation and planning and implementation.