Design Of An Obstacle Avoidance Control System For Multiple Mobile Robots Based On ARM

Wheeled mobile robots have always been a hotspot in the field of robot research,and they are more and more widely used in practical applications.The use of robots improves work efficiency and saves labor costs.In the face of certain tasks,the single robot can not meet the control requirements,so the coordinated control of multiple mobile robots has become the focus of research.The problem that must be solved is the motion control of multiple robot formations and obstacle avoidance.In this dissertation,by establishing a multi-mobile robot formation model for leader-follower,the control requirements are analyzed,and the construction and control program of the upper computer and the lower computer control system of the experimental platform are completed.The information fusion is performed by using the detection information of multiple sensors installed in the follower robot,use formation transformation strategy to control formations for obstacle avoidance.The work done during the research process can be divided into the following sections:(1)In this dissertation,the robot controller selects the ARM series STM32F103ZET6 processor,completes the circuit design of each functional module and controller peripheral of the robot,and writes the underlying control program in C language under the software platform.The upper computer control system is built based on the Simulink platform of MATLAB.The control command is calculated by using the robot pose captured by the optical motion capture system,finally,communication with the follower robot is established through the Bluetooth module to complete the transmission of the control input signal.(2)The kinematics model of the robot formation was established using the pilot following method,and the positional relationship between the leader and the virtual pilot and the follower robot in the formation was described.The formation error model in the global coordinate system is transformed into the formation error model under the local coordinate system of the robot through the transformation mat:rix.(3)The PID and model predictive control were used to design the robot formation motion controller.By comparing the characteristics of the two control methods,a controller design scheme of PI plus predictive control was proposed,and the PI prediction was carried out on the experimental platform built in this paper.Control experiments and verified that the program is feasible.(4)For the case where the narrow road and the follower encounter the obstacle separately during the formation of the robot formation movement,in order to ensure the integrity of the formation in the formation avoidance process,the detection information of the plurality of sensors of the follower robot is merged to This is an obstacle avoidance experiment based on an obstacle avoidance strategy using a formation transformation and built on the experimental platform.At the end of the article,the work done in this dissertation is summarized,and the future improvement direction is prospected.