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Coordination of multi- robot formation control and fault tolerance studies

Author: RenShuiXiang
Tutor: GuanZhiHong
School: Huazhong University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: Multi-robot Formation coordination Fault Tolerant Control Adjacency matrix ISS stability
CLC: TP242
Type: Master's thesis
Year: 2008
Downloads: 192
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Abstract


In the study of multi-robot systems , multi- robot system coordination control is always a hot issue, but also in the field of a basic research orientation. On the one hand , a single robot itself due to capacity constraints , we must rely on coordination between multiple robots to complete some of the complexity of the work ; hand, through coordination between multiple robots , robotic systems can improve operational efficiency . In this paper, produced by the United States ActivMedia Robotics Pioneer 2-Dxe robot as research object, on the coordination of multi- robot formation control and fault tolerance studies conducted in-depth system , its main contents are as follows : First, from the history and development of the mobile robot current situation , compared the different domestic and international developments. Then a brief introduction of the mobile robot hardware and software features , highlighting the multiple mobile robot system . Secondly, based on agent (agent) cluster control theory , based on the proposed two control strategies on the agent . Subsequently, the introduction of the \Then based on the behavior of multiple mobile robots formation control algorithm based on the introduction of the concept of graph theory , the formation linked with the matrix proposed by adjacent matrix to describe the multi-robot formation control , and gives the formation tolerant control algorithms. Finally, since the fault-tolerant control is actually a formation stability problems , given the input to state stability theory (Input-to-State Stability referred to ISS theory ) can be good for the size quantization error , etc., we introduce the theory, the leader of the inputs and internal state formations linked to an internal error dynamics establish formations , formations were analyzed in series and parallel formation stability. In response to these algorithms and control strategy, simulation results show that the use of the principles and effectiveness of the algorithm and correctness . At the end of the full text and a summary of the mobile robot formation control research focus are discussed.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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