Research And Implementation Of Control System About Collaborative Motion For Multiple Mobile Robots

It is mature for the research in the field of robotics,especially the mobile robot,which is widely used in various fields,such as industry,military and so on.With the development of the time informationized and intelligent,it become worse for the robot working environment and more complex for the requirements.And It is difficult to meet the working needs with a single robot.Drawing on the cluster behavior of nature,people begin to explore the research and application of multi-mobile robots,among which the research of cooperative motion technology is one of the key links.It is concerned with the two core issues of collaborative strategy and formation control in the process of coordinated motion with multiple mobile robots for this paper.Especially The design and implementation of the collaborative motion control system are studied,and the following research is carried out:(1)Cooperative motion controller design coupled with lateral,longitudinal,heading and parameter optimization.It is discussed that the development of cooperative motion of multi-mobile robots at home and abroad,and analyzed cooperative motion scenarios such as aggregation and close and decentralized formation control,and described cooperative strategies.Especially the core problem of formation control,the leader-follow method is used to model the coordinated movement.Aiming at the problem of real-time following motion of mobile robot,a design method of cooperative motion controller coupled with lateral and longitudinal heading control variables is proposed.Aiming at the problem that it is difficult for the control parameters to adjust in simulation,a parameter optimization method based on improved genetic algorithm is proposed to achieve optimal control parameter selection.(2)The Analysis and research on coordinated motion strategy of multiple mobile robots based on the leader-follow method and graph theory.Combined with the leader-follow method to study the collaborative motion architecture,used graph theory to describe the formation structure of multiple mobile robot systems as adjacency matrix and formation matrix.Aiming at scenes such as aggregation and close and decentralized formation control,it is analyzed the coordinated motion strategy of multiple mobile robot systems,and studied the formation control process.(3)The design and the implementation of a collaborative motion control system with strong scalability and high stability.For the control architecture of the control system for high efficiency and stability,modular function design,cross-platform communication,and strong scalability,there are performed hardware selection work for the controller,Positioning system and other sensors.And designed a hierarchical control logic architecture to ensure high efficiency and stable operation of the control system.Based on the ROS topic communication architecture,the collaborative communication between multiple mobile robots is realized,and the operation flow design of the multi-robot motion control system is designed to achieve functional modularity and strong scalability requirements.Through prototype integration and testing,the design and implementation of a multi-mobile robot cooperative motion control system is finally completed.