球形两栖多机器人协同控制系统的研究

发布时间：2018-01-19 15:02

本文关键词： 球形两栖多机器人多机协同主从机器人自主式控制上位机式控制　出处：《天津理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着科技以及生产力的不断发展,20世纪50年代以后工业机器人已经出现,计算机领域、控制领域、电子领域、监测领域以及人工智能领域技术发展突飞猛进。针对于目前的机器人控制系统,现阶段机器人研究多为侧重单个机器人的研究,使得对于一些具有复杂任务从事的机器人而言,单个机器人难以胜任一些任务。对于多机器人的协同控制系统而言,多机器人控制系统相比单个机器人控制具有更强的优越性,可以针对某一些具体的任务,设计出机器人协同控制系统,要比对单个机器人控制完成任务更加容易、经济。本文首先针对当前机构所研究两栖机器人控制方式相对单一的现状,提出了一种球形两栖多机器人协同控制系统。该协同控制系统可以对多台球形两栖机器人进行统一控制,也可以对单台球形两栖机器人进行单独控制,其实现方式有两种,分别为自主式球形两栖多机器人控制系统以及上位机式球形两栖多机器人控制系统,其中自主式控制系统为主机器人向从机器人发射控制指令,主从机器人一同完成任务,上位机控制系统为上位机向多个从机器人统一发送控制指令,各个从机器人一同完成任务。其次,为了证实球形两栖机器人多机协同控制系统的可行性,本文采用基于ZigBee通信协议的XBee无线通信模块配置机器人的控制方式,对球形两栖多机器人的陆地运动以及水下运动进行相关实验和仿真,并取得数据。陆地实验以及水下实验分别做了两方面的控制特性研究,一种为自主式球形两栖多机器人控制方式,另外一种为上位机式球形两栖多机器人控制方式。通过两种不同的方式对球形两栖多机器人进行协同控制做了相关的陆地爬行以及水下喷水行进实验。最后通过实验证实了球形两栖多机器人协同控制系统的可行性,并且在引入LQR算法后球形两栖多机器人能够按照预定的轨道行进。通过做相关实验,并对实验数据进行分析,证实了球形两栖多机器人协同控制系统的可行性,同时也为将来球形两栖多机器人协同控制系统的优化提供了理论依据。
[Abstract]:With the development of science and technology and productivity, since 50s, industrial robots have appeared, such as computer field, control field, electronic field. Monitoring field and artificial intelligence technology are developing rapidly. In view of the current robot control system, the current robot research is focused on the single robot research. For some robots with complex tasks, it is difficult for a single robot to be competent for some tasks, and for a multi-robot collaborative control system. Multi-robot control system has more advantages than single robot control system, which can be designed for some specific tasks. It is easier and more economical to complete the task than to control a single robot. Firstly, this paper aims at the relatively single control mode of the amphibious robot studied by the current mechanism. This paper presents a cooperative control system for spherical amphibious multi-robot, which can control multiple spherical amphibious robots uniformly or single spherical amphibious robot alone. There are two ways to realize it, which are the autonomous spherical amphibious multi-robot control system and the host computer spherical amphibious multi-robot control system. The autonomous control system mainly sends control instructions to slave robots, and master and slave robots complete the task together. The upper computer control system sends control instructions to multiple slave robots. Each slave robot accomplishes the task together. Secondly, in order to verify the feasibility of multi-machine cooperative control system of spherical amphibious robot. In this paper, the XBee wireless communication module based on ZigBee protocol is used to configure the control mode of the robot, and the experiment and simulation of the land motion and underwater motion of the spherical amphibious multi-robot are carried out. The land experiment and the underwater experiment have done two aspects of the control characteristic research, one is the autonomous spherical amphibious multi-robot control mode. The other is the control mode of host computer spherical amphibious multi-robot. The cooperative control of spherical amphibious multi-robot is carried out in two different ways. Finally, the experiments of land crawling and underwater water spraying are carried out. The experiment proves the feasibility of the cooperative control system of spherical amphibious multi-robot. And after the introduction of LQR algorithm, the spherical amphibious multi-robot can travel according to the predetermined orbit. Through the relevant experiments, the experimental data are analyzed. The feasibility of the cooperative control system of spherical amphibious multi-robot is confirmed, and the theoretical basis is provided for the optimization of the cooperative control system of spherical amphibious multi-robot in the future.
【学位授予单位】：天津理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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