Research On Multi-robot Formation Problem

In recent years, more and more researchers have begun to focus on multi-robot systems,and many industries have begun to use multi-robot system. And as a multi-robot system, an important part of the robot formation is also slowly attracting the attention of researchers.Multi-robot formation has great advantages in distributed computing, large-scale detection,concurrency, and robustness, and is widely used in target search, handling of large cargo,rescue mission and map detection. In this paper, we analyze the deviation of the path or trajectory generated by the multi-robot and follow the law. The main contents are the following.(1) Firstly, the research significance of multi-mobile robot formation is introduced, and the research on the structure, the research status at home and abroad and the problems that need to be solved at present are introduced. Aiming at the research contents of this paper, the representation method of robot formation and various typical formation coordination methods are introduced. In this paper, we choose the formation model combined with the pilot law and the virtual structure method, and study the basic motion behavior of the multi-robot and the control algorithm of the corresponding behavior.(2) Secondly, based on the pilot law and E-PUCK intelligent vehicle platform, the detailed description of the platform's main component of the E-PUCK smart car composition,completed in the E-PUCK based on the WIFI communication module. In order to solve the problem of operation error in the formation, we propose a method to add zigbee positioning system externally. The method can locate the position of the pilot and the follower at any time.Once the distance between the two is too far, algorithm.(3) Finally, in order to verify the effectiveness of the algorithm, we have used the zigbee positioning system used in the algorithm to analyze the accuracy of the distance measurement and positioning methods of these two aspects, through experiments and comparison, the final selection of the smallest two Multiplication of the distance measurement and three-dimensional centroid method of positioning, so that the accuracy as much as possible to reduce, and then use the pilot to follow the law to improve the algorithm and the results.