[1]李一顺,郭健,李鑫,等.仿生球形两栖机器人多机协同控制系统设计[J].应用科技,2017,44(06):66-71.[doi:10.11991/yykj.201610007]
 LI Yishun,GUO Jian,LI Xin,et al.Design of a multi-robot cooperative control system for bionic amphibious spherical robots[J].Applied science and technology,2017,44(06):66-71.[doi:10.11991/yykj.201610007]
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仿生球形两栖机器人多机协同控制系统设计(/HTML)
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《应用科技》[ISSN:1009-671X/CN:23-1191/U]

卷:
第44卷
期数:
2017年06期
页码:
66-71
栏目:
自动化技术
出版日期:
2017-12-05

文章信息/Info

Title:
Design of a multi-robot cooperative control system for bionic amphibious spherical robots
作者:
李一顺1 郭健1 李鑫1 孙阔1 程静1 周思培1 杨旭曦1 郭书祥12
1. 天津理工大学 天津市复杂系统控制理论及应用重点实验室 医学机器人实验室, 天津 300384;
2. 日本香川大学 工学部, 香川 高松 761-0396
Author(s):
LI Yishun1 GUO Jian1 LI Xin1 SUN Kuo1 CHENG Jing1 ZHOU Sipei1 YANG Xuxi1 GUO Shuxiang12
1. Tianjin Key Laboratory for Control Theory & Application in Complicated Systems and Biomedical Robot Laboratory, School of Electrical Engineering, Tianjin University of Technology, Tianjin 300384, China;
2. Faculty of Engineering, Kagawa University, Takamatsu 761-0396, Japan
关键词:
多机协同控制系统球形两栖机器人远程无线控制XBee通信多机协同LabVIEW无线通信通信协议
Keywords:
multi-robot cooperative control systemamphibious spherical robotremote wireless controlXbee communicationmulti-robot cooperationLabVIEWwireless communicationcommunication protocol
分类号:
TP242
DOI:
10.11991/yykj.201610007
文献标志码:
A
摘要:
为了实现球形两栖机器人的多机协同控制系统,利用无线控制的方式,实现上位机对多台机器人的编队控制及远程控制,从而对球形两栖机器人进行组队完成作业规划并统一控制。通过对通信控制协议的编写,拟建立XBee通信模块与单片机之间的系统连接,并且XBee模块之间也可以进行通信,编写串口通信协议,通过上位机对多个球形两栖机器人进行一对多的多机协同控制。上位机采用图形化的编程软件LabVIEW给无线通信模块XBee的发射端发送控制信号,对下位机上装有XBee模块接收端的多机器人进行协同控制。实验证明,本文设计的多机协同控制系统能对多个机器人进行协同控制,实现不同机器人完成不同任务并协同工作的要求。
Abstract:
In order to realize a multi-robot cooperative control system for bionic amphibious robots, a wireless system can be used to realize formation control and remote control using the host computer for several robots by the way of wireless control. By writing communication control protocols, the system connection between the XBee communication module and single chip microcomputer can be built and communication can be carried out among the XBee modules, achieving the multi-robot cooperative control for several amphibious spherical robots. The host computer uses the graphical programming software LABVIEW to send the control signal to the transmitter of the wireless communication modules XBee, thus the cooperative control of multiple robots with the XBee module receiving terminal on the lower computer is carried out. Based on multi-robot cooperative communication control system, the task of multi-robot cooperative control can be realized. Finally, the developed system can be used to control several robots to achieve different tasks and the collaborative work.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2016-10-19。
基金项目:国家自然科学基金面上项目(61375094);天津理工大学2016年度国家级“大学生创新创业训练计划”项目(201610060010)
作者简介:李一顺(1995-),男,本科生;郭健(1982-),男,副教授,博士
通讯作者:郭健,E-mail:jianguo@tjut.edu.cn
更新日期/Last Update: 2018-01-06