基于网络反馈的多移动机器人协同控制

摘要

This paper to establishe a two-wheels mobile robot kinematics models,according to the postures of the robots feedback by WSN;After data pretreatments of the postures informations,builds error equation based on the posture error of the lead and follow robot, through regulates the speed of the follow robot to achieve an effective synergy to the given speed lead robot. Simulation results prove the control law's effect;In the actual wireless sensor network platform,the follow robot receives the network information,calculates lead and follow robot's movement states (position,speed,angle,etc),then realizes the synergy which two robots follow the lead robot which is doing the uniform circular motion.%建立两轮移动机器人运动学模型,根据网络反馈主、从机器人的状态信息,经过数据预处理后构建偏差方程,通过调节从机器人速度输入使偏差趋近于零,来实现对给定运动状态的主机器人的有效协同控制.Matlab仿真实验结果证明了此控制律具有一定的控制效果,并且此控制律在实际无线传感器网络平台的运用中,从机器人接收网络反馈信息,计算得到主、从机器人的运动状态(位置、速度、轴相角等),实现了两个从机器人对匀速圆周运动的主机器人的协同控制.