Design And Implementation Of Wheeled Robots Formation System In Unknown Environment

With the development of robot technology and sensors in recent years,people's demand for robots to complete exploration,security and other tasks has gradually increased,and a single sensor-equipped robot cannot complete some tasks such as common handling and encirclement,and requires multiple robots to complete the task.At present,people continue to study the problem of multi-robot formation in the field of multi-robots completing tasks together.Multi-robot formation control is the basis for achieving multi-robots to complete tasks together,and can improve the efficiency of robots to complete tasks.The thesis mainly focuses on the platform design and implementation of the wheeled robot formation control system under unknown circumstances.First,the wheeled robot formation control strategy is designed.Among them,different formation system methods are introduced,several common formation control algorithms are compared,and several common models of wheeled robots are introduced.On this basis,the combination of omnidirectional wheeled robots and the leader-follower-based formation strategy is selected to design the wheeled robot formation control strategy applied in this paper,so that the wheeled robots can be based on the relative distance information between the robots.It is led by the navigator and moves as a whole in any formation.Secondly,in order to realize the obstacle avoidance function of the wheeled robot formation system,the formation obstacle avoidance control strategy is designed in conjunction with the wheeled robot motion model.By comparing the common path planning methods,the dynamic window method is introduced to realize the obstacle avoidance function.Among them,the formation of obstacle avoidance framework based on dynamic window method is constructed,and the perception distance threshold for the formation mode and obstacle avoidance mode switching is designed.The ideal formation trajectory parameters are introduced into the trajectory evaluation function,so that the formation can be in an environment with obstacles.Realize the function of formation and obstacle avoidance.Then,design and build the formation control system.Combined with the formation control strategy designed in this paper,ROS is used as the system software platform.Among them,the leader wheeled robot is equipped with lidar and markers,and the SLAM and path planning algorithms are used to implement the navigation function in an unknown environment;the follower wheeled robot is equipped with a monocular camera to identify the marker and its relative distance is based on Kalman filtering.It is estimated that combined with the formation control algorithm to achieve the tracking function of the leader,thereby achieving the wheeled robot formation function.Finally,the wheeled robot formation system is experimentally verified.The feasibility of its system was verified through software simulation,and its functions of formation formation,formation maintenance,formation transformation,formation obstacle avoidance,cooperative handling were realized in the actual engineering implementation,which laid a solid foundation for the follow-up research of multi-machine collaborative tasks based on this platform solid foundation.