Multi-robot formation control path tracking method based on Bluetooth communications

Abstract

The invention discloses a multi-robot formation control path tracking method based on Bluetooth communications. The method includes the steps that robots are placed on an iSpace experiment platform; a camera sends captured position and posture data of the robots to an upper computer; the upper computer analyzes the position and posture data and stores position and posture information of each robot; the position, the angle, the moving linear speed and the angular speed of a geometric center formed by the robots are obtained according to predetermined tracking paths; a formation system coordinate system is established with the geometric center as a coordinate origin; position and posture deviation of the robots is worked out according to actual information and reference information of the robots; the linear speed and the angular speed of each robot in a next control period are worked out, control parameters are converted into the rotation speed of right wheels of the robots and the rotation speed of left wheels of the robots, and the information is sent to the robots through Bluetooth. The multi-robot formation control path tracking method based on Bluetooth communications is high in tracking system accuracy, wide in tracking curve application range, capable of being matched with a formation control function and suitable for related fields of multi-robot research, and has good development potential.

Description

technical field [0001] The invention relates to a multi-robot path tracking method, in particular to a multi-robot formation control path tracking method based on Bluetooth communication. Background technique [0002] As an important branch of robotics, multi-robot technology has developed rapidly in the past decade, mainly because it can perform tasks better and save costs compared with single-robot systems. In multi-robot technology, formation control, communication scheduling, and path tracking have become hot research objects, which are of great significance for improving the efficiency of multi-robot collaborative operations. [0003] In particular, with the further development of path tracking, formation control and communication protocols, the combination of formation control and path tracking for target tracking or cooperative operation has broken the previous situation where the simulation results were good but the actual effect was poor. For the realization of the...

AI Technical Summary

Problems solved by technology

The core problem lies in the selection of the moving speed of the reference point and the selection of the distance between the reference point and the robot. This problem is the main problem restricting the practical application of the algorithm. If the distance is too large, the tracking accuracy will be poor; if the distance is too small , the robot moves slowly and the chattering phenomenon is serious

The real-time path tracking algorithm makes up for the quadratic curve tracking algorithm to a certain extent, but its core problem is that it cannot track straight lines, so it also limits its transformation to practical applications

Images