Ambient light intensity based topology switching control for multi-robot system

摘要

Three Khepera III robots are used in multi-robot system for family security by providing environment information for people. This paper proposes that the topology of multi-robot system switches according to ambient light intensity during the navigation process. The localization of robots depends on dead reckoning, and Extended Kalman Filter is used to improve the localization accuracy, the error rate is about 0.5%. The formation controller of the system is leader-follower method, which can ensure the linear and angular velocities convergence smoothly and ensure the system forms into some specified topology structure. In the end, experiments verify the effectiveness of the method.