Research on multi-robot collaborative transportation control system

摘要

The collaborative transportation problem of multi-robot system is studied to satisfy complex requirements such as task, workload and environmental requirements. Firstly, based on the theory of linear temporal logic (LTL), the global optimal path satisfying the requirements is determined. Then, the similar formation control is proposed on the basis of the above optimal path in order to keep a certain formation. Additionally, a target tracking control algorithm is used in order to control multiple mobile robots to transport goods along with the planned path. Finally, the provided simulation results demonstrate the effectiveness of the multi-robot collaborative transportation control system.