Research On Control Technology Of Multi Robot System For Airport Runway Detection

With the development of the economy and the improvement of the level of science and technology,more and more people choose aircraft as their own way of travel.Not only that,but also the demand for air freight is increasing year by year.Aircraft plays an increasingly important role in life,and the safety of aircraft has become a problem of great concern.The safe take-off and landing of airplanes on the runway is an important part of the fuselage's safety.It is very important to carry out the safety inspection of the airport runway.In the past,detection of the airport runway was carried out by manual inspection,which required a lot of manpower.Although some achievements have been made in the research of airport runway detection system abroad,there is still room for improvement.Especially in the use of multi-robot cooperation to complete the airport runway's detection,there are many technical problems to be solved.This study designs and builds a multi mobile robot system for detecting the airfield runway,which focuses on the control of multi robot for airport runway detection.The inspection efficiency of the designed multi-robot is high,which provides the possibility for the automatic inspection of the airport runway.Firstly,this paper gives the control scheme of the multi robot system for the airport runway detection,including the scheme design of the multi robot control system and the workflow of the multi robot system for the airport runway detection.The mathematical model of the airport runway detection robot is established,including model parameters,kinematics model and omni-directional motion diagram.The PID algorithm of the speed loop,the PI algorithm of the attitude loop and the fuzzy PID algorithm of the cooperative formation used in the system are analyzed in detail,and the simulation experiment of the designed controller is carried out under the environment of MATLAB.Secondly,according to the overall plan of the above design,the hardware implementation and software realization are carried out according to the principle of hierarchy and modularization.The construction of the multi-robot control system for airport runway detection and the writing and testing of the remote PC monitoring system are completed.The hardware construction and debugging of the position and attitude acquisition module,the wireless serial communication module,the ultrasonic distance measuring module,the indoor positioning module,the DSP motion control platform and the USB camera acquisition module are carried out and the software program is written and tested.The debugging of multi-robot communication and multi-robot control has been completed.Finally,using the designed and implemented multi-robot control system for airport runway detection,we carried out three experiments: motion control,indoor positioning and cooperative formation.The results and data of the three experiments are analyzed to verify that the design of the multi-robot control system for airport runway detection has a good control effect.