Formation Control Of Multiple Mobile Miniature Robots Based On Virtual Spring-damper

The formation of multiple mobile robots has a broad prospect of application,which will be applied in many fields in the future.The miniature robot has such characteristics as small size and high flexibility,which can play an important role in some special circumstances.It's especially important for the miniature robot with limited computing resources to make the formation control of multiple mobile robots simple,effective and stable.Therefore,to propose a reasonable and effective formation control method for multiple mobile miniature robots has a great theoretical and practical significance.Based on the virtual spring-damper algorithm,this thesis studies the formation control problem of multiple mobile miniature robots.The specific research works are as follows:1.A kinodynamic model of two-wheeled mobile robot is established in this thesis.Through the kinematic constraint equations of the robot nonholonomic system and Lagrange equation,a kind of kinodynamic control model based on virtual force is introduced.The validity of the model is verified by simulation,which prepares for the follow-up study on the robots formation control.2.In this thesis,the traditional virtual spring-damper algorithm is improved.Based on linear spring force,torsional spring force and damping force,an improved virtual spring-damper model for formation control is proposed.Its stability is analyzed by graph theory,and the stable parameters of the system are obtained.3.The virtual spring-damper algorithm is used to simulate the formation of multiple mobile robots,which takes a formation of five robots as an example to simulate the wedge formation and the formations transformation respectively.On the viewpoint of energy,the change of the overall potential energy of formation is analyzed during the movement,which further verifies the stability of the proposed control model.4.The experimental research on formation control of multiple mobile robots is carried out with five multiple mobile miniature desktop robots.The experimental results of wedge formation and formations transformation are demonstrated respectively,and the experimental results are analyzed in detail.The experimental results show that the formation control method of virtual spring damping presented in this thesis solves the formation control problem of multi-mobile robots well and ensures the robust stability of the nonholonomic system.This method is reasonable and effective,and it also can be applied to the formation control of multimobile mini-robots with limited computing resources and large scales.