全文总字数：2656字
1. 毕业设计（论文）的内容和要求
asic RequirementsThis subject focuses on the multi robot cooperative formation and obstacle avoidance tasks. During the execution of the task, the system often needs robots to create a desired formation and avoid interference ofobstacles. Finally，the integrated method of formation control has been verified by formation simulation experiment with wheeled mobile robots.Main Contents1、 Understand the concept of multi-agent systems, formation, obstacle avoidance；2、 Consider the multi-agent system, design the formation control method with obstacle avoidance and give some theoretical analysis;3、 Carry out simulation verification on MATLAB for multi wheeled mobile robots and carry out semi-physical simulation;4、 Carry out the physical verification experiment on the wheeled mobile robots.Related Requirements1、Read references at least 25；2、Finish the thesis proposal no more than 6000 words；3、Complete the thesis at least 20000 words.
2. 实验内容和要求
1、 Simulate the formation trajectories of multi-agents with obstacle avoidance and verify the effective of theoretical results by matlab2、 Carry out semi-physical simulation of formation trajectories with obstacle avoidance.3、 Give video of real experiment for multi wheeled mobile robots.
3. 参考文献
[1] Olfati-Saber R, Fax A, Murray R M. Consensus and cooperation in networked multi-agent systems[J]. Proceedings of the IEEE, 2007, 95(1): 215-233.
[2] Ren W, Beard R W. Distributed consensus in multi-vehicle cooperative control[M]. Springer-Verlag, London, 2008.
[3] Cao Y, Stuart D, Ren W, et al. Distributed containment control for multiple autonomous vehicles with double-integrator dynamics: algorithms and experiments[J]. IEEE Transactions on Control Systems Technology, 2010, 19(4): 929-938.
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