Formation Control Of Multiple Tracked-robots And Experiment

In the current era of informatization and artificial intelligence,mobile robots have not only been used in traditional industries such as industry,agriculture,and service industries,but also have been used in emerging fields such as artificial intelligence and aerospace,and have become one of the hot topics in the control field.Compared to single mobile robot,multi-mobile robots have a wider range of applications and show greater application value in such scenes as handling,detection,and search.The control problem of multiple mobile robot systems is not only the increase of the number of single mobile robots,but also the problems of coordination,formation,autonomous decision-making,and information exchange.This paper focuses on the formation of multi mobile robots and carry out the following work:(1)The application background and development status of multi-mobile robots are described,and the crawler robot is selected as the research object,focusing on the research of multiple tracked-robot formation control.The kinematics of the crawler robot is modeled.Based on its kinematic model,the Lyapunov method is used to design the robot tracking controller.With this expansion,the single tracked-robot control problem was extended to multiple tracked-robot formation control,and the formation controller was designed using the leader-follower formation method and the multi-agent consensus protocol.(2)Taking into account the obstacle avoidance problems in the movement of the mobile robot in the unknown environment,based on the multi-directional distance information,the fuzzy controller is used to design the crawler robot's obstacle avoidance controller.The problem of obstacle avoidance for a single robot was generalized to solve the problems of obstacle avoidance in the formation process of multiple tracked robots in an unknown environment.The above algorithm was verified by simulation.(3)Design and build a multiple tracked-robot experimental platform with local information perception and information exchange.The selection scheme and functions of each part of the experimental platform is provided.The multiple tracked-robot formation control algorithm designed in this paper and the formation algorithm with the obstacle avoidance problem are applied to the experimental platform,and the effectiveness of the algorithm is verified.