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/).

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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  -