The Control Strategy of Swarm Tracked Robots for Intelligent Transportation Based on Parallel Formation

摘要

The research of this paper is about the control strategy of tracked robots for intelligent transportation based on parallel formation. Firstly, the sliding turning model of tracked mobile robot is introduced and the kinematics analysis of this model based on the pose information is also researched. Then, the problem of tracked robots formation could be reduced to the tracking approach by the theory of virtual-structure, and the control strategy of tracked robots is achieved by the relative algorithm. At last, the feasibility and stability of tracked robots' formation for intelligent transportation is simulated by the software of Matlab.