Research On Formation Control Of Wheeled Mobile Robots

With the rapid development of electronic techniques,robot technology has been widely used.Compared with the single mobile robot,multiple mobile robots have more broad applications in many areas due to their perfect intelligence and highly adaptive ability,such as cooperative transport of mobile bodies,collaborative search of unknown environments,formation control of aircraft,etc.The research on formation control of multiple mobile robots is the most basic link in the coordination control of multiple mobile robots,which has important theoretical and practical significance.However,how to build a multiple mobile robot cooperation system model,how to maintain stability in formation and to enhance the disturbance rejection capability of the mobile robot is always the difficulty in formation control for multiple mobile robots.In this thesis,based on multi sensor fusion technology,the fuzzy PI control method and the active disturbance rejection control method are used for multiple mobile robots formation control system.The main work of the thesis is summarized as follows:1.First,a two wheeled differential mobile robot motion platform is designed,in which the hardware includes the controller,the motor,the motor driver,the power supply,the sensor and so on.The software includes the driver of the lower computer,and display program in the host computer.Then,based on the platform,a kinematic model of the mobile robot is established.2.In view of the formation control of two mobile robots,a tracking control system based on multi-sensor information fusion and fuzzy PI controller is designed.First of all,in order to improve the positioning accuracy of the robot,the Kalman filtering algorithm designed to fuse laser data and odometer data to get the location information of the mobile robot more accurately and establish the formation error model.Then the fuzzy PI controller is designed to realize the stable control of the formation of two mobile robots.Finally,experiments was carried out on the designed platform and the effectiveness of the results was verified.3.A formation control system based on active disturbance rejection controller(ADRC)is designed for the formation of multiple mobile robots.First,the formation control error model is established on the basis of the navigation model.In order to improve the disturbance rejection ability of the formation control system,the ADRC method is used to design the controller,and the formation control of the mobile robot is realized.Finally,the experiments are carried out on the designed platform and the effectiveness of the proposed results is verified.