Abstract
<p class="0abstract"><span lang="EN-US">To realize the design of multi-robot cooperative control based on wireless sensor networks, a large number of local control research experiments are carried out on a specific model of mobile robots. Combined with the kinematic model of mobile robot, the motion characteristics of this kind of mobile robot are grasped. On the basis of realizing the multi-target tracking and positioning of wireless sensor network, a multi mobile robot cooperative control system based on the feedback of wireless sensor network is developed, and the synchronous motion between the master and the robot is maintained through the feedback control of the network. Finally, a cooperative trajectory tracking control algorithm for mobile robot is introduced, and the principle of the controller design is mastered. A multi mobile robot cooperative trajectory tracking LQG controller is designed for mobile robot in wireless sensor network. The simulation results show that the algorithm can reach the cooperative control target.</span></p>
Highlights
Multi-mobile robot systems and networked remote control are hot research issues in the field of mobile robots
The system of multi-target tracking and tracking provides a stable navigation method for the cooperative control of multiple mobile robots based on network feedback
The mobile robots in the grid are located by a wireless sensor network, and their positioning information is reported to the robots for local control
Summary
Multi-mobile robot systems and networked remote control are hot research issues in the field of mobile robots. Su Weizhou of the School of Automation Science and Engineering of South China University of Technology led the core team to conduct research on cooperative control of multi-mobile robots based on wireless sensor network feedback. It is divided into two parts: wireless sensor network multi-target tracking system and networked multi-mobile robot control. As a physical experiment platform of the National Natural Science Foundation of China's key project "Network System Control Theory and Method (60,774,057)", this platform has designed and implemented a multi-mobile robot real-time tracking and feedback cooperative control system based on wireless sensor networks. Wireless sensor networks are applied to multimobile robots to achieve multi-robot coordination
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