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在多机器人编队控制中避免视觉系统的局限,能够更好地在复杂未知环境中协作完成任务,解决编队控制的无反馈和实时性不高的问题,使得机器人能够准确迅速地进行跟踪和通信编队,一起顺利达到目标点。源于一种基于分布式人工智能的多智能体系统,以视觉跟踪为基础,在分别获取自身位姿信息的前提下,通过改进通信机制的多机器人编队控制方法,各个机器人通过通信信道交换和共享同组成员的位姿信息,通过计算获得各机器人之间的相对位姿。为适应多机器人编队的需要,编写了一种新的通信协议,利用闭环控制律的多移动机器人运动协调算法,并通过编队实验对编队方法进行验证,结果证明了该方法的有效性。
In the multi-robot formation control to avoid the limitations of the visual system to better coordinate complex unknown environment to complete the task to solve formation control without feedback and real-time problems, allowing the robot to accurately and quickly tracking and communications formation , Successfully reached the target point together. Based on the distributed tracking artificial intelligence, a multi-agent system based on visual tracking and multi-robot formation control based on improved communication mechanism is proposed, each robot obtains its position and attitude information through exchange of communication channels and Share the pose information of the members of the same group, and obtain the relative pose between the robots by calculation. In order to meet the need of multi-robot formation, a new communication protocol was developed. The multi-robot coordinated motion algorithm with closed-loop control law was used and the formation method was verified by formation test. The results show the effectiveness of the method.