Research And Application Of Multi-Robot Cooperative Control

The multi-robot cooperative control system has many advantages beyond the single robot system,mainly reflected in the wide application field,good fault tolerance,high efficiency and good scalability.So the research of multi-robot system has gradually become a key direction in the field of robotics.However,most of this research stays in the stage of simulation theory at present,lacking practicability.And because the indoor environment is complex and changeable,traditional positioning technology is not suitable.Therefore,most indoor service robot is track robots with low intelligence.Based on the existing research of multi-robot,this paper combined with different degrees of development at home and abroad,and built up a completely independent property indoor non-assisted trackless multi-robot cooperative control system.The works of this paper are as follows:(1)Aimed at multi-robot cooperative control in the system,this paper established a distributed coordination control mechanism based on improved auction contract net model.Each intelligent robot broadcasts its own bid value,and then compares it with the received bid value,thus alleviating the bottleneck of the bidder's bid evaluation and making the robot participate in other bidding process as soon as possible which increases the utilization of resources.The bidding party reduces the proportion of task loss by increasing the task supervision process.(2)This paper designed a complete set of robot system,and actually detected the performance of the cooperative control model.The client uses the Edison processor as the main control chip to build the trackless robot.The robot is equipped with ultrasonic,steering gear,DC motor and RFID module.The server consists of path planning module and command transmission module.The path planning part is mainly based on the Dijkstra algorithm,and the transmission is based on UDP to realize remote control through the wireless network transmission.(3)This paper conducted a comprehensive analysis of trackless robot moving process,established the steering model,obstacle avoidance model and path planning tracking model,and discussed the relationship between the target control information and the distance information at each time slot.This paper took the direction error and the horizontal offset error extracted from planning path tracking model as control factor and established a double loop PID motion control model.In order to improve the stability and robustness of PID,this paper brought online BP neural network to tune the control parameter.Experiments show that the control model has good effect on follow,and improves the accuracy of the planning path tracking.The trackless robot can perform accurate control in the process of collaborative allocation to promote the development of the task,which is of great significance to realize the autonomous walking control of the robot.In general,this paper put forward a complete set of multi-robot cooperative control model and designed a double loop PID motion control model based on BP neural.The proposed model has strong innovation.In addition,this paper conducted a complete collaborative control system to verify the model.The experimental results show that the proposed model improves the accuracy for trackless robot planning path tracking and reduces the completion time of system task set,which has strong application value.