Formation Control Method of Multiple Robots Based On Improved Communication Mechanism
A new formation control method based on multi-agent system is proposed. Based on track by vision, the improved communication mechanism is imported in formation control of a multiple mobile robots system. Suppose having acquired respective attitudes independently, various mobile robots can exchange and share these attitudes information in the whole group through communication channel. Then, the respective attitudes among mobile robots can be deduced, and multi-robot formation will be achieved. With this technique, the multi-robot formation control system without environment constraint can be realized. A distinguishing feature of the formation control method lies in the fact that the implementation of robot formation mainly relies on the improved communication mechanism, no matter the members in team sense others or not. Consequently, the environment adaptability of multi-robot formation will be improved. A new communication protocol is constituted for need. The validity of such design is demonstrated through the adoption of multi-robot close loop formation control algorithm. The new formation control method demonstration included the experiment using three mobile robots. The results showed the formation control method is feasible.
multi-robot formation control communication mechanism
Tao CHI Xuebo CHEN
School of Electronic and Information Engineering University of Science and Technology Liaoning Anshan, Liaoning, P.R.China
国际会议
The Third International Conference on Modelling and Simulation(第三届国际建模、计算、仿真、优化及其应用学术会议 ICMS 2010)
无锡
英文
348-352
2010-06-04（万方平台首次上网日期，不代表论文的发表时间）