Design And Realization Of Target Tracking And Cooperative Control System For Multiple Mobile Robots

With the increasing complexity of the task which mobile robot performs, and because of the distributed sensing and executive ability, overall coordination and parallel ability, and strong robustness and fault tolerance ability, multiple mobile robots coordination control system have attracted a lot of attention. Therefore, the research for multiple mobile robots coordination control system has important theory value and practical significance. In order to research the theory and practical problem of target tracking and coordination control, this article mainly launches the research in the following aspects by using SRV1 mobile robots:Firstly, a multiple mobile robot experiment platform is built up, and an upgrade of hardware and software for single mobile robot is achieved. The experiment platform consists of a positioning system, a communication system and SRV1 mobile robots. And based on the experiment platform, a multiple mobile robot target tracking and cooperative control system is designed and realized.Secondly, based on kinematic model of mobile robot, a novel target tracking algorithm of single mobile robot based on geometric vector fields is proposed. By the aid of the attraction of vector fields and the accurate geometric position and orientation relationships between the robot and the target, an optimal target tracking trajectory is planned. At the same time, considering the poor ability of speed adjustment of mobile robot in the process of trajectory tracking, a speed adjustment unit by adopting a discrete incremental PID control based on BP neural network, is proposed, so that it can enhance the accuracy and rapidity of trajectory tracking of mobile robot, and some verification experiment are carried out to verify the effectiveness of the algorithm.Thirdly, based on the leader follower formation tracking model, a least square prediction model based on particle swarm optimization is proposed to predict the motion trajectory of the leader, so as to resolve the problem that the follower cannot track the leader accurately with communication failure. When the abnormal situation occurs, we can use the prediction point to replace the abnormal data, so as to improve the stability and reliability of the formation target tracking. And at last, some experiments are conducted to demonstrate the effectiveness of the algorithm.Finally, considering the matching problem of multi robot and multi objective in the generating process of formation, a target assignment cooperative control algorithm based on auction is proposed. Though computing the value and price of each robot moving towards each target, it can make each robot find out its matched target in a desired formation in the cost as small as possible, and, ultimately, obtain a best task allocation scheme to make an maximum time utilization ratio of the integral system. And at last, some experiments are carried out to verify the effectiveness of the algorithm.