Research And Implementation Of Multi-Robot Cooperation Method Based On ROS

Multi-robot collaboration technology is an important part of the current robotics research field,and it is also a necessary condition for improving the efficiency of robot functions and completing more complex tasks.This thesis focuses on the needs of multi-robot collaboration,and conducts research on multi-robot communication and precise positioning of robots,and initially realizes the functions of indoor mobile robots and industrial robots cooperation and multi-mobile robots collaborative formation.In this thesis,AR Tag-based robot pose calculation and vision guidance solve the problem of low positioning accuracy only relying on laser SLAM and navigation algorithms.With the multi-robot communication network,it can effectively complete the collaborative processing of mobile robots and industrial robots and multi-mobile robots.Formation tasks.The main research contents of this thesis are as follows:1.Researched the communication network of multi-robot collaboration.Since the robots involved in collaborative work are not necessarily a unified hardware structure and operating system,according to the research of this thesis,a distributed communication network needs to be constructed.A Wi Fi wireless network is built in the local area network through a router.The robot is equipped with a modem and an antenna.To communicate with other robots on this network system.And on the basis of this distributed multi-robot communication,a multi-robot topic communication method based on UDP broadcast and TCP connection is constructed,and the underlying information of each robot is encapsulated for local processing.Task-related topics are published in the robot network through broadcast.Conducive to the cooperation between robots.2.Researched the Modbus/TCP communication protocol of industrial robots.This thesis uses ABB industrial robots and AGVs to work together to complete the task of workpiece processing.The Modbus/TCP communication method is used to interact with the AGV and transmit signals whether the AGV is in place,whether the industrial robot is grabbing,and whether the AGV is withdrawn.3.Researched mobile robot navigation and positioning technology based on AR Tag tags.This thesis implements a lidar-based SLAM and autonomous navigation function package,but this method relies on the mapping accuracy of lidar,and it is not applicable in scenarios that require high positioning accuracy,such as the AGV and robotic arm grasping workpieces studied in this thesis.This thesis proposes a robot positioning method based on autonomous navigation and AR Tag tags.Mark a coarse positioning point in the grid map,let the AGV navigate to that point autonomously,and allow the AR Tag to enter the field of view of the AGV camera.Turn on the camera,identify the AR Tag and calculate the positional relationship between the camera and the tag,so as to accurately guide the AGV to the specified point.4.Researched the problem of coordinated formation control of multiple mobile robots.Through the multi-robot communication network,the pilot robot releases its own speed to the following robots in the network in real time,and then uses the AR Tag-based mobile robot pose estimation method to complete the coordination and formation of multiple mobile robots.The camera mounted on the follower robot measures the pose relationship between the AR Tag on the pilot robot and the follower robot.According to the robot formation control based on the parallel guidance method,the robot can meet the requirements of coordinated formation control.5.Based on the research content proposed in this thesis,testing and experiments are carried out on the basis of the Chongqing University of Posts and Telecommunications Double First-Class Discipline Construction Robot Fully Interconnected Manufacturing Innovation R&D Platform Project.It is verified that the multi-robot collaboration method based on ROS in this thesis can effectively complete the collaborative tasks in scenarios such as mobile robots and industrial robots collaborative processing of workpieces and multi-mobile robots collaborative formation control,achieving the expected goals and having certain practical application value.