The Communication And Control Of Formation On Multi-robot System

In recent years,wireless sensor network technology and robot technology development is flourishing,a single individual has been gradually unable to adapt to the needs of certain special circumstances.In order to improve the working ability of the robot and meet some special requirements,it is very important to study the formation of multi-robot system.In this paper,we focus on the communication and formation control of multi-robot system supported by wireless sensor network,which is of great significance to cooperate and improve the efficiency of multi-robot.First,we study the construction of all-round mobile platform based on wireless sensor network.This paper studies the usability,efficiency and wear of the omnidirectional mechanism,analyzes the relationship between the wheel train arrangement and the system freedom,and lists the available gear train arrangement.The main scheme of the mobile platform is designed,the main control module,the power module,the driving module,the positioning module and the communication module are designed and the prototype of the mobile platform is finished.Secondly,the positioning method of mobile robot and the construction of communication network are studied.By analyzing the advantages and disadvantages of various positioning techniques,we choose the wireless location method based on RSSI.Compare for commonly used applications and outstanding advantages and other features in wireless communication technology,we decide to use a wireless communication network based on ZigBee technology after the establishment of a comprehensive.It provides a good technical support platform for the formation control of multi-robot system.In addition,the formation control algorithm of multi-robot system is studied.This paper analyzes the architecture of the group robot system and the selection of the reference point.Based on the research on the existing traditional formation control methods,based on the formation task studied in this paper,based on the task execution behavior,the formation behavior and the safe operation behavior,we put forward the fusion formation control algorithm based on Behavior.Finally,the simulation of formation control algorithm and the physical experiment based on omni-directional mobile platform are studied.Based on MATLAB software we carry out the simulation of the formation in the task;based on all-round mobile platform we do the physical experiments of the formation.In the Z-Stack protocol,the formation control algorithm is embedded in the Z-Stack protocol,and the ZigBee network is established to carry out the basic formation formation experiment and the obstacle avoidance experiment.The formation performance parameters such as formation retention rate and formation regulation rate are calculated to verify the effectiveness of formation algorithm.