Multi-Robot Cooperative Formation Control In Amphibious Environment

With the gradual maturity of robotics technology,various types of robots have begun to be widely used in many fields,and the application scenarios are more and more extensive,and the tasks performed are more and more complex.Such as express UAV delivery,unmanned lunar rover,underwater vehicle drawing underwater topographic map,etc.However,the needs always go faster than the development of technology.Nowadays,various types of robots can accomplish many tasks,but the challenges are still enormous.Due to the inherent disadvantages of single robot system,the focus of research institutions has gradually shifted to multi-robot system in recent years.With more and more complex task background and exponential increasing task difficulty,the research of multi-robot system has been gradually extended from isomorphic multi-robot system to heterogeneous multi-robot system.The formation problem of heterogeneous multi-robot system composed of multi-ground unmanned vehicle and multi-surface unmanned vehicle is studied in this paper.It is of realistic and urgent significance to provide theoretical support for the multi-robot system with amphibious interface as its application background.The difficulty of formation control of heterogeneous multi-robot system composed of multi-ground unmanned vehicle and multi-surface unmanned vehicle lies in the different models,application scenarios and control modes of the two kinds of robots.Firstly,the model of surface UAV and surface UAV is constructed and selected,which provides basic support for the follow-up research.Secondly,by studying the aggregation behavior motion control model of multi-robot system,the optimal coverage of multi-robot system to regions with boundary constraints and the maximum coverage of regions without boundary constraints are realized,which provides theoretical support for the practical functions of multi-robot system such as regional blockade,monitoring and so on,and provides a theoretical basis for the task layout of heterogeneous multi-robot system.Consistent formation control for heterogeneous multi-robot systems is studied.Using the theoretical model of heterogeneous multi-robot system composed of heterogeneous multi-ground unmanned vehicle and multi-surface unmanned vehicle,a suitable consistency control protocol is designed.The validity of the theory is verified and tested by simulating the heterogeneous multi-robot system composed of multi unmanned ground vehicle and multi unmanned surface vehicle,and the isomorphic multi-robot system composed of multi unmanned ground vehicle system and multi unmanned surface vehicle system.After that,through the analysis of heterogeneous multi-robot system composed of multi-ground unmanned vehicle and multi-surface unmanned vehicle,a suitable controller is designed to realize the inclusion control of the system,and the controller is proved to be correct.Finally,the simulation results verify the validity of the controller.Finally,distributed containment control for heterogeneous multi-robots is realized.Compared with the existing research,each random robot only needs to refer to neighbor information without receiving global information,which reduces the communication requirements of the system and enhances the stability and redundancy of the system.The existing research requires that the control input to the leader is zero.This paper realized that the control input to the leader is bounded and non-zero.