A Design of Multi-Agent System Simulation Platform Based on Unmanned Ground Vehicles and A Research on Formation Control Protocol
Chuang Zhang, Jichao Zhao, Fengzhi Dai · Proceedings of International Conference on Artificial Life and Robotics · 2022
Inspired by ants and fishes in nature, the multi-agent system (MAS) plays a huge role in production and manufacturing in modern society.This paper takes unmanned ground vehicles (UGVs) as the object and designs a multi-vehicle test platform, which is composed of UGVs, ultra-wideband (UWB), and Bluetooth Mesh.At the same time, the UGV can achieve different control objectives by changing the main controller.The formation control protocol of UGVs is designed and its stability is analyzed.The effectiveness of the protocol is verified by numerical simulation.Finally, the designed control protocol is applied to the developed hardware test platform to verify the effectiveness of the experimental platform.