Jichao Zhao1, Fengzhi Dai1,2
1College of Electronic Information and Automation, Tianjin University of
Science and Technology, 300222，China
2Tianjin Tianke Intelligent and Manufacture Technology CO., LTD, China
Pages 14–18
ABSTRACT
Inspired by ants and fishes in nature, the multi-agent system plays a huge
role in production and manufacturing in modern society. This paper takes
UGV as the object and designs a multi-UGV test platform. The platform composes
of UGVs, ultra-wideband, and Bluetooth Mesh. At the same time, the UGV
can achieve different control objectives by changing the code of 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 designed hardware
simulation platform to verify the effectiveness of the simulation platform
Keywords Multi-agent system, UGV, Simulation platform, Consensus, Formation
control
ARTICLE INFO
Article History
Received 22 November 2021
Accepted 27 June 2022
J-STAGE3103