Indoor Multi-robot System Positioning And Distributed Control Technology

Distributed multi-robot system is one of the research hotspots in control field,and it has wide prospect in industry,aerospace,military,transportation and so on.At present,multi-robot systems are mostly researched and developed for the needs of outdoor,and the research of indoor multi-robot system is less.In addition,the theoretical results of multi-robot systems are mostly lack of actual system validation and the lack of support of the actual experimental platform.In order to solve these problems,on the basis of self-developed indoor multi-robot experiment platform,the positioning and distributed control technology of indoor multi-robot system are studied.The main work and achievements are as follows:(1)The recognition and tracking of multi-target are studied by using image processing technology.In order to solve the problem that the circular detection algorithm of Hough transform could not identify the circle well,a double threshold circular detection algorithm is proposed,which can accurately obtain the circular mark on the robot’s identification board.In order to avoid the influence of illumination intensity on multi-target recognition,the recognition of multi-robot was realized by the multi-target recognition algorithm of two-component color histogram.In order to solve the problem that the target is lost by being obscured or interfered,an improved tracking algorithm based on CamShift and Kalman filter is proposed to improve the accuracy.(2)The technique of camera calibration is studied and the parameters of the camera are obtained by the method of Zhang Zhengyou calibration.The moving object is accurately mapped from the image pixel coordinate system to the world coordinate system,and the motion parameters of the target are obtained by using image detection.(3)Aiming at the problems of multi-robot formation control,an improved second-order consistency protocol is proposed.The necessary and sufficient conditions for the asymptotic consistency of the second-order consistency protocol are given.The experimental and simulation results show that the proposed algorithm is effective.