基于MQTT的机器人集群控制系统设计与实现

Design and implementation of robot cluster control system based on MQTT

摘要:

针对现有的多机器人的控制系统编程复杂且不可灵活地更改机器人动作的弊端，基于MQTT的机器人集群控制系统采用了网络传输模式，通过MQTT在不使用有线连接的基础上将动作发送给目标机器人，并且具有动作复现的功能，可以通过手动将机器人的动作记录下来，然后进行复现，大大降低了编程和调试的难度。这种控制系统使得机器人只需要接受上位机的命令，执行上位机发出的动作指令就可以完成同步协调工作，大大减少了机器人的CPU处理的任务，降低了机器人的制作成本，同时通过上位机控制机器人的动作，可以及时纠正错误动作，停止工作，更改任务等，无需担心机器人因先前的程序导致动作出错。实验中使用该系统对三台四足机器人进行控制，结果表明该系统可以使三台机器人协同工作，动作误差极小，并且可以完整复现动作。

Abstract:

Aiming at the disadvantages of the complicated programming of the existing multi-robot control system and the inability to flexibly change the robot actions, the robot cluster control system based on MQTT uses network transmission mode. Through MQTT, the action is sent to the target robot without using the wired connection, and has the function of action repetition. The robot action can be recorded manually, Then, it is reproduced, which greatly reduces the difficulty of programming and debugging. This kind of control system allows the robot to only need to accept the command from the upper computer and execute the action instructions issued by the upper computer to complete the synchronization and coordination work, which greatly reduces the CPU processing tasks of the robot and reduces the production cost of the robot. At the same time, the upper computer controls the robot You can correct wrong actions in time, stop work, change tasks, etc., without worrying about robot actions caused by previous programs. The system controls three quadruped robots, and the results show that the system can make the three robots work together with minimal movement error and can fully reproduce the movement.