Research And Implementation Of Multi-agent Formation Control Based On Visual Positioning

As an important branch of distributed artificial intelligence,multi-agent system has been developed and applied widely with the rapid development of computer and network communication technology.Over the past decade,multi-agent cooperative control has become a hot issue in the field of multi-agent system,in which multi-robot formation control is the representative.In this paper,a multi-robot experimental platform is self-designed,and the multi-agent consistency algorithm and the artificial potential field algorithm are combined based on virtual leaders for formation control of multi-robots on the basis of the platform,.The main contents are as follows:Firstly,the structure framework of the multi-robot experimental platform and the process of the whole platform are designed,including the composition of the platform software and hardware.Secondly,the experimental platform is based on industrial camera.The image in the field of view is captured by the top camera and transmitted to the host computer for image processing.Hu invariant moments are used to identify and match multiple robots to obtain the position and attitude information of mobile robots.The upper computer transmits the position and attitude information to the single chip computer through serial port,and then transmits the position and attitude information to each mobile robot through the wireless communication module.It also includes the calibration of industrial cameras and the design of PC interface.Finally,a single robot is modeled.An improved algorithm combining multi-agent consistency algorithm and artificial potential field is proposed based on virtual leader.The stability of the algorithm is proved by Lyapunov method,and its validity is verified by MATLAB simulation.Finally,the algorithm is applied to the multi-mobile robot experimental platform to realizeformation control.