| The cooperative control of the heterogeneous multi-robot system is one of the research hotspots in the field of automatic control and robot.In the air-ground heterogeneous collaborative system,the advantages of the unmanned aerial vehicle（UAV）and unmanned ground vehicles（UGVs）complement each other,which improves the performance of the control system.This paper studies the design and implementation of heterogeneous robot cooperative control system based on visual information.A formation control algorithm with/without a leader is designed,which is suitable for formation transformation in a narrow area,and a physical platform is built and used for experimental verification.The main contents of this paper are as follows:1)A tracking control algorithm based on visual information is designed for a UAV.In order to obtain the relative position and attitude of the UGVs,a position-based visual servoing（PBVS）control algorithm is designed to ensure that the UAV can always hover over the UGVs formation.The proportional and differential（PD）controller is applied to achieve the tracking control of the UAV2)A formation control algorithm based on graph theory is designed for UGVs.The relative position of the UGVs is calculated with the UAV visual information,and the formation control algorithms in the case of with/without the leader are designed respectively.At the same time,an modified artificial potential field algorithm is proposed to ensure that collision between UGVs is avoided.3)A formation transformation strategy for the narrow area is designed for UGVs.The optimized formation transformation strategy based on evaluation function is designed to make sure robots can realize optimal decision of formation under environmental constraints.4)Build the formation control platform of UAV-UGV heterogeneous robot system.Combined with the Robot Operating System（ROS）and Gazebo,the dynamic simulation and experiments are carried out to test the performance of heterogeneous multi robot cooperative control algorithm. |
