| Under the background of "Made in China 2025",China's robotics research and industry are booming in the development of China's smart manufacturing industry,and the application fields are more extensive and more intelligent.In the face of complex demands,traditional single robots cannot meet production needs.The multi-robot system cooperates with the operating mechanism to have stronger fault tolerance and robustness,and improves work efficiency.Among them,the formation control problem of multi-mobile robot systems is an important basis for multi-robot coordinated control,and it is a hot topic at home and abroad.This paper mainly studies the design and implementation of a multi-mobile robot coordinated formation control system.Main tasks as follows:(1)A multi-robot coordinated formation control platform based on visual positioning for indoor environment is built.It mainly relates to the software and hardware design of image processing upper computer and mobile robot based on visual positioning.The platform collects the moving image of the robot through the global camera,and uses the image processing technology to analyze the pose of the robot and transmit it to each robot through wireless communication technology.The robot controller performs coordinated control according to the received pose information to complete the formation task.(2)This paper proposes a robot positioning method based on visual information,which uses OpenCV image processing technology to identify and target the robot target.In this paper,a robot positioning method based on visual information is proposed.The OpenCV image processing technology is used to identify and target the robot target.Target recognition is the method of distinguishing multiple robots by using the feature moments of the digital contour and the template to match.Target positioning involves the camera's calibration technology,which acquires the pose information of the robot through the conversion of the camera and the robot's motion plane coordinate system.(3)Research on formation control algorithms,mainly through the design of reason-able multi-robot formation strategies and methods to achieve coordinated control of the entire system.This paper mainly studies the formation control strategy based on pilot followers and the consistent formation control algorithm based on neighbor information,and verifies the effectiveness of the algorithm through simulation platform. |
