The marsupial robotic system achieves better adaptability to the environments and extends available work space by combining the mother robot’s transportation capability and flexible motion of children robots. It has many potential applications in military, rescue, hazardous materials handling and environmental exploration. This thesis focuses on design and coordinated control of the marsupial robotic system. The contents are as follows: Firstly, the research background and its significance of the marsupial robotic system are given. The research development of the multi-robot system is reviewed. Some typical examples of the marsupial robotic system are presented, and its research development is analyzed. The contents and structure of this thesis are also introduced. Secondly, a marsupial robotic system with multi-child robots are designed and implemented. A lifting docking station and a hybrid mobile platform are developed for the mother robot. Besides, two kinds of children robots are designed with different functions, which include the wheeled mobile manipulator and the tracked vision-based child robot. The former is equipped with a wheeled mobile platform and a multi-link manipulator, whereas the latter adopts a tracked mobile platform and a CMOS camera that is endowed with a rotational degree of freedom. A communication structure for the marsupial robotic system is also given. Thirdly, aiming at the object replacement task with a given location, the coordination between children robots are conducted. A self-location algorithm based on fusion of laser sensor and encoder is developed, and a vision measurement algorithm of relative pose based on weak rotational constraint is proposed. With the leader-follower mode based on the-off-axis point, the vision-based child robot achieves effective following to the wheeled mobile manipulator. On this basis, the task is completed by coordinated control of the leader and follower. Fourthly, a docking method with observation-based guidance by the mother robot is proposed for the child robot. The visual information related to the pose of the child robot is extracted by the observation of the mother robot. According to the pose implied in the visual information, the guiding strategy for docking is given. A docking controller with fuzzy control is designed, which is used to correct the heading of the child robot. The proposed approach guarantees that the child robot can reach the front of the station entra...
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