Research on Multi-robot Cooperation Based on Leader-follower Method
- DOI
- 10.2991/isrme-15.2015.255How to use a DOI?
- Keywords
- Multi-robots; cooperative transportation; Leader-follower
- Abstract
Compared with single robot system, multi-robot system has many outstanding advantages, such as parallelism, redundancy and spatial distribution characteristics. And at present, multi-robots system is already successfully applied in aerospace, automotive assembly welding, disaster relief and other fields. In this paper we specify the implementation of two mobile robots carrying a large size box to a given destination cooperatively, which is a typical example of multi-robot system. Firstly, inspired by the formation control, the leader-follower mechanism, which is often applied in the formation control, is introduced in this paper. Secondly, based on control mode of the leader-follower mechanism, a PID controller, whose input deviation is calculated by LOS (line-of-sight) method, for the leader robot, while a double input dual output fuzzy controller are designed for the follower robot to complete cooperative transport task. Lastly, an application written in C++ language is developed to verify the proposal. The experiment that controlling two amigo bots to transport a big size box to a given destination cooperatively is carried out in the indoor environment, and the experimental results show that the proposed method is effective.
- Copyright
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Yingjie Huang AU - Yong Zhang AU - Qinjun Zhao AU - Jin Cheng PY - 2015/04 DA - 2015/04 TI - Research on Multi-robot Cooperation Based on Leader-follower Method BT - Proceedings of the 2015 International Conference on Intelligent Systems Research and Mechatronics Engineering PB - Atlantis Press SP - 1257 EP - 1265 SN - 1951-6851 UR - https://doi.org/10.2991/isrme-15.2015.255 DO - 10.2991/isrme-15.2015.255 ID - Huang2015/04 ER -