Аннотация:Information exchanges and cooperative movements of multiple robots have become a hot topic in robotics. To increase the adaptability of robots in amphibious scenarios, an improved amphibious spherical robot was designed in this paper. However, the ability of single robot was limited. To further increase the sensing range and work efficiency of own amphibious spherical robots, a Leader-follower method, which could realize the coordinated movement and formation keeping for three or more robots, was adopted in this paper. The theoretical analysis show that the Leader-follower method could be easily applied in amphibious spherical robots for practical applications. And a simulation experiment platform named Player/Stage was used for verifying the effectiveness of this method. The construction of the experimental environment and the final simulation results were provided in this paper. Through the analysis of experimental results, the feasibility of the Leader-follower method was verified, and this method will be used to implement multiple amphibious spherical robots cooperative motion in future works.
