| The cooperative formation control of heterogeneous multi-agent systems is one of the main challenges currently faced in the research of multi-agent systems.In recent years,it has attracted extensive attention from domestic and foreign experts and research scholars.Therefore,based on the cost function method,this paper studies the formation control method of heterogeneous multi-agent system based on visual image information feedback.This research focuses on the formation generating of the ground mobile robot team based on relative distance,the formation maintenance and the shape transformation of the ground mobile robot group in the dynamic process,as well as the dynamic obstacle avoidance problem of the ground mobile robot team.The main research contents are as follows:1.The visual feedback information is used to study the static formation generating method of the unmanned aerial vehicle(UAV)and ground mobile robot system.Rely on the guidance of the drone,this paper applies the onboard camera of the UAV to obtain the relative position information of the ground mobile robot.The generating of ground robot formation is realized by designing a controller based on the cost function,and the efficiency of formation generating is analyzed.Finally,a simulation experiment platform and a physical experiment platform was built.Designed experiments have obtained simulation and physical results,which verified the robustness and effectiveness of the proposed formation control method.2.Aiming at solving the problem of formation maintenance and shape transformation in the formation control of multi-agent systems,the control methods of tracking,formation maintenance and shape transformation for ground mobile robot group during the UAV dynamic flight process were studied.In dynamic flight,the drone plays the role of "leader".As there is a certain conversion relationship between the image coordinate system of the airborne camera and the drone coordinate system,the continuous association between the ground mobile robot and the image is established.Ensure that the ground team follows the trajectory of the UAV,so as to achieve dynamic tracking and formation maintenance effects.In addition,considering the number of ground mobile robots,a variable expected formation morphology vector is introduced to provide different formation shapes.Then,the dynamic formation maintenance and shape transformation problems are combined to design a new cost function that can balance the two parts to quantify the relative position information of the ground team and the drone.The newly proposed gradient descent control algorithm is used to effectively achieve the dynamic formation maintenance and transformation of heterogeneous systems.Finally,experiments were designed on the simulation platform and the real world platform,and the dynamic formation maintenance and transformation methods were verified and analyzed.3.For obstacles that may appear in the area of the robot's range of motion,a dynamic collaborative obstacle avoidance method based on vision for UAV and ground mobile robot system is studied.This method uses visual information to locate mobile robots and obstacles within a certain range,and proposes a new cost function based on the artificial potential function to quantify the distance relationship between each ground robot and each ground obstacle.Then combined with dynamic formation maintenance problem analysis,considering the relationship between each ground mobile robot and the center point of the image,the overall cost function is designed to quantify the current system state.Based on the proposed gradient descent control algorithm,the movement direction and speed of the ground team are determined,which can effectively ensure the formation maintenance while achieving obstacle avoidance.Finally,simulation experiments have validated the proposed control strategy. |
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