Design and Implementation of Intelligent Communication Structure of Mobile Multi-Robot System

• Main Authors: Yi-Xian Li, 李奕賢
• Other Authors: Ching-Chih Tsai
• Format: Others
• Language: en_US
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/yq25a5

碩士 === 國立中興大學 === 電機工程學系所 === 106 === This thesis proposes methodologies and techniques for system design and formation control of a mobile multi-robot system with an intelligent communication structure. This intelligent communication architecture has three capabilities including automatic connection arrangement; self-check of communication status and automatic repairment connection interruption. The presented contents propose the required conditions and action flows of the aforementioned three capabilities. Since this smart communication system architecture is mainly used in multi-robot systems, this thesis also proposes a decentralized control methodology for a group of networked homogeneous nonholonomic mobile wheeled Robots (NMWRs) with uncertainties. After briefly explaining the formation control system, kinematic and dynamic models of NMWRs, a leader-follower consensus formation control method is derived and examined by using adaptive backstepping, sliding-mode control and directed communication topologies. The feasibilities and effectiveness of the proposed control law are rigorously examined through numerical simulations and experimental results. The effectiveness and practicability of the intelligent communication structure together with the mobile multi-robots are confirmed by performing many experimental results on the proposed leader-follower consensus formation control method. The developed methods and system techniques may provide useful references for researchers and engineers working for multi-robot or multi-agent systems.