Research and Implementation of Cooperative Control for ROS Mobile Robot

摘要

In this paper, the control of multiple mobile robots TurtleBot is studied for the robot operating system (ROS).A distributed control and communication platform is built to solve the problem of data transmission between multiple robots, and the configuration of robot workstations that can be monitored and remotely controlled is completed.On this basis, the SLAM mapping and autonomous navigation of the robot are completed.The SLAM mapping algorithm of Gampping is selected.With the help of Gazebo simulation platform and Rviz visualization tool, the local path planning of TEB is used to realize the autonomous navigation and multi-point navigation of the robot based on the known environment.On the basis of the constructed distributed control system and the control of a single robot, the research on the coordination of multiple robots is further carried out, and the synchronous control of the robot is realized by using a single node and multi-thread method.By changing the commands issued by the topic, the control of multiple robots for different attributes is released synchronously to achieve more accurate and more synchronous robot motion control.With the help of TF tools, multi-machine following and multi-machine formation are completed, and based on the path planning of a single robot, the navigation of multiple robots is realized.