| With the continuous development of science and technology and productivity,industrial robots have emerged after the 1950 s,computers,electronics,monitoring and control field,and artificial intelligence technology rapidly development.For the robot control system now,the robot research mostly focused on a single robot,it made a single robot difficult to accomplish multi-tasks.For multi-robot coordinated control system,the robot control system has advantages than a single robot control system,it can target a specific task,the robot coordinated control system completed the task easier and more economic than a single robot control system.This first view of the article presented status of the amphibious robot control mode,which is relatively single,this paper proposed a multi-robot coordinative control system for the spherical amphibious robot.The coordinated control system can unified control many spherical amphibious robots,it also can control a single spherical amphibious robot separately,its has two implementation ways,respectively for autonomous spherical amphibious type,and the PC control type,especially autonomous robot control system was given priority to launch control commands from the robots system,master-slave robot to complete the task together,PC control system is that PC sent control instructions to multiple robots simultaneously,all of the robots completed the task together.Secondly,in order to confirm the feasibility of the multi robot cooperative control system of the spherical amphibious robot,this paper carried out experiments and simulations for the land movement and underwater motion,and obtained the data.Land and underwater experiments were accomplished in two aspects,one of that is autonomous robot coordinative control system,another is PC control mode.We carried out experiments and simulations in two different ways of spherical amphibious robots cooperative control methods.Finally,experiments and simulations confirmed that the feasibility of multi-robot cooperative control system for the spherical amphibious robot,and after input LQR algorithm,the spherical amphibious robots could move according to the predetermined trajectory.Through the relevant experiments,and analyzed the experimental data,which confirmed that the multi-robot cooperative control system for the spherical amphibious robot is feasible,it also provided theory basis for the optimization of control system for the future research. |
