Abstract
Compared with single robot system, multi-robot system has many outstanding advantages, such as parallelism, redundancy and spatial distribution characteristics. And at present, multi-robots system is already successfully applied in aerospace, automotive assembly welding, disaster relief and other fields. In this paper we specify the implementation of two mobile robots carrying a large size box to a given destination cooperatively, which is a typical example of multi- robot system. Firstly, inspired by the formation control, the leader-follower mechanism, which is often applied in the formation control, is introduced in this paper. Secondly, based on l φ − control mode of the leader-follower mechanism, a PID controller, whose input deviation is calculated by LOS (line-of-sight) method, for the leader robot, while a double input dual output fuzzy controller are designed for the follower robot to complete cooperative transport task. Lastly, an application written in C++ language is developed to verify the proposal. The experiment that controlling two amigo bots to transport a big size box to a given destination cooperatively is carried out in the indoor environment, and the experimental results show that the proposed method is effective.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.