부산대학교 도서관

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.