Study on the Autonomous Multirobot Collaborative Control System Based on Spherical Amphibious Robots

摘要

The study on the multirobot collaborative control method has broad application prospect and value in the field of robotics. To adapt to a variety of working environments and higher efficiency, this article designed the autonomous multirobot collaborative control system based on spherical amphibious robots. First, this article proposed the formation strategy for spherical amphibious multirobot and used linear quadratic regulator algorithm to adjust the robot trajectory. Then, this article used XBee wireless communication with excellent communication performance under low noise ratio conditions to complete real-time information sharing of multirobot. Finally, based on the theoretical analysis and calculation, a series of land and underwater evaluation experiments were carried out to verify the feasibility of autonomous multirobot collaborative control system. The experimental results showed that the spherical amphibious multirobot could realize collaborative control accurately under different environments according to the predetermined trajectory.