关键词: 多机器人系统, 协同运动, 联动控制, 自动导引, 路径跟踪

Abstract: The multi-robot cooperative transportation approach had the noteworthy task flexibility and condition adaptability for the manipulation of heavy-duty， large-sized， small-rigidity irregular-shape objects. Firstly， 3 guidance control configurations， mono-camera dual-unit， dual-camera dual-unit， and dual-camera multi-kinematic-pair omni-directional， were investigated for cooperative transportations. The multiple-input and multiple-output motion control models were established. Then， 2 coordinated path tracking control methods were proposed by means of leader-follower strategy which was composed of homogeneous framework based on deviation-conversion prediction control for two robots with fuzzy adjustment of control parameters， and heterogeneous framework based on model prediction control for leader robot and backstepping control for follower robot with reinforcement learning of control parameters. Finally， the multi-robot cooperative transportation prototype systems were developed for the guidance control experiments. The experimental results verify the feasibility and effectiveness of the configurations， models， frameworks， and methods. 

Key words: multi-robot system, cooperative motion, coordinated control, automatic control, path tracking