Multi-robot Cooperation Strategy Based on Wireless Sensor Network

摘要

To realize the design of multi-robot cooperative control based on wireless sensor networks, a large number of local control research experiments are carried out on a specific model of mobile robots. Combined with the kinematic model of mobile robot, the motion characteristics of this kind of mobile robot are grasped. On the basis of realizing the multi-target tracking and positioning of wireless sensor network, a multi mobile robot cooperative control system based on the feedback of wireless sensor network is developed, and the synchronous motion between the master and the robot is maintained through the feedback control of the network. Finally, a cooperative trajectory tracking control algorithm for mobile robot is introduced, and the principle of the controller design is mastered. A multi mobile robot cooperative trajectory tracking LQG controller is designed for mobile robot in wireless sensor network. The simulation results show that the algorithm can reach the cooperative control target.