Research On The Cooperative Control Of Multi-robot System Based On LIDAR

With the further development of mobile robot positioning and navigation technology,multi-robot networking communication technology and multi-agent theory further perfect,the cooperative control technology of multi-autonomous mobile robot system has been widely concerned by scholars in the field.In this paper,the Lidar is used as the main sensor,and the robot is used to carry on the safe exploration to the unknown environment area,to obtain the complete two-dimensional environment map,and to realize the intelligent navigation of many mobile robots in the specific workspace.In the dynamic environment,the multi-robot is controlled in cooperation to complete the task.The main work of this paper is as follows:In order to solve the problem of inaccurate positioning of the robot in a dynamic and complicated environment,the Monte Carlo localization algorithm of the particle filter is improved,and the dynamic distortion factor is introduced.on the basis of the original particle filtering Monte Carlo positioning algorithm,the laser radar information is subjected to statistical operation,the matching degree of the laser radar information is compared with the built map information,the complexity of the current environment is judged through the dynamic distortion factor,and whether the radar data information is used for positioning is determined,So that the accuracy of the positioning of the robot in a complex environment is improved.In order to solve the problem of multi-robot system,a multi-agent system self-adaptive cooperative control algorithm is proposed in order to realize the global cooperation of multi-robot(group aggregation or group aggregation).Each robot sensor follows three local interaction rules: group cohesion,collision avoidance,and speed alignment.The control law of each robot is composed of three associatedcontrol components,the cohesive control component is based on geometry,and the initial interconnection of the network can also be maintained;and the alignment control component ensures that all the members in the interconnected network finally reach a common speed;The inter-member collision control part is embedded in the engagement control as a passive character.The effectiveness and robustness of this method are verified by the simulation experiment.Through the idea of layering and modularization,three intelligent mobile robot platforms with rich and strong expansibility are built.The experiment scene of the multi-robot system is designed,the function of the SLAM and the autonomous navigation function of the robot are tested,and the feasibility of the positioning and navigation algorithm in the practical application is verified.The performance of the multi-robot system is analyzed,the combined motion scheme of the multi-robot system is optimized,and the feasibility of the motion coordination scheme is verified.