多机器人群体系统的协调控制研究-控制理论与控制工程专业论文.docxVIP

华 华 中 科 技 大 学 硕 士 学 位 论 文 II II Abstract The coordination control of multiple robots is an important research direction in the current mobile robotics technology. The cooperation and coordination between robots will greatly improve the intelligence of robots and the robots can complete more complex missions which seem impossible for single robot. The research on multi-robot cooperation and coordination will speed up the process of the practical use of robots, which is of great significance both in theoretical study and practical value. Based on analyzing the development prospect and current research of the multi-robot system, and make full use of the research results in the field of artificial intelligence, combined with experiments and simulation, the coordinated control of multi-robot swarm systems was further studied. This work is supported by Nation Nature Science Foundation of China, Grant#6574088. The research includes: This thesis firstly makes a summary of the research status of multi-robot coordination control both at home and abroad, and also introduces multi-mobile robots coordinated control system models, simulation software, and experimental platform, and so on. Second, the outline and application of graph theory and artificial potential field (APF) are summarized. And the multi-robots coordinated control method based on graph theory and the artificial potential field is studied, a leader-follower formation control mechanism is introduced into the flocking algorithm, and the algorithm is also improved to make the flocking motion be sequencable behavior, at the same time the simulation of the improved method has been done. Then, the obstacle avoidance and collision avoidance algorithm between robots is studied. Based on the leader leading mechanism, we study a kind of multi-robot unified obstacle avoidance strategy based on potential method, which makes the multi-robots swarm systems have a good obstacle avoidance performance in the obstacle existing en