关键词: 多移动机器人系统, 协作搬运, 编队控制, 协作定位, 自适应控制

Abstract: In industries such as aerospace manufacturing,rail transit,and other heavy industries,transporting large and heavy workpieces is a common practice. Utilizing Multiple Mobile Robot Systems (MMRSs) for the transportation of such workpieces enhances transport efficiency while ensuring safety. However,this approach imposes stringent requirements on the motion performance of both the MMRSs and their individual components. To address these challenges,a control method is proposed aimed at improving mobile robot motion stability,command effectiveness,and achieving higher precision in formation control. The control method consists of two main components, single-robot control and multi-robot control. For single-robot control,a central speed command is formulated using a cubic polynomial function that takes into account various motor performance constraints—including speed limits,acceleration restrictions,and swing angle velocity. The performance of the mobile robot is analyzed under conditions involving multi-central-speed transition. Subsequently,an adaptive controller is developed based on leader-follower formation control principles for mobile robots. By considering the dynamic input of the follower during each control period,a Back Propagation Neural Network (BPNN) is employed to compute the speed control parameters. An experimental platform comprising two omni-mobile robots is established. Several experiments are conducted to validate the effectiveness of the proposed formation control method. To ensure the reliability of experimental results,3D motion capture technology with submillimeter accuracy is utilized. Experimental findings indicate that the relative position deviation among each robot remained below 10 mm,with pose deviations not exceeding 1°.

Key words: multiple mobile robot systems, cooperative transportation, formation control, cooperative localization, adaptive control