python实现mbot多智能体协同仿真项目源码+文档说明（期末大作业）

# mbot多智能体协同仿真 #### 介绍 本仓库是，mbot多智能体协同仿真作业仓库，可实现，机器人编队，多机器人导航功能 #### 环境配置 系统：`ubuntu18.04`+`ROS Melodic` > ROS安装教程：[ROS Melodic 安装必成功流程+避坑指南（超详细）_HinGwenWoong的博客-CSDN博客_ros melodic](https://blog.csdn.net/hxj0323/article/details/121215992) 需要安装的包： ```bash sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers ros-melodic-navigation ros-melodic-teb-local-planner* ros-melodic-ros-control ros-melodic-ros-controllers ros-melodic-gazebo-ros-control ros-melodic-ackermann-msgs ros-melodic-serial qt4-default ros-melodic-effort-controllers ros-melodic-joint-state-controller ros-melodic-tf2-ros ros-melodic-tf ``` 创建工作空间： ```bash mkdir -p ~/mbot_ws/src #建立工作空间目录 cd ~/mbot_ws/src/ catkin_initworkspace git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git #克隆TurtleBot3的相关功能包 git clone https://github.com/ROBOTIS-GIT/turtlebot3.git git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git cd .. catkin_make #编译工作空间 ``` 最后编译完成的环境长这样 、 然后，设置使用`burger`机器人进行仿真 ```bash echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc ``` 然后，再把工作空间加入bashrc ```shell echo "source ~/mbot_ws/devel/setup.bash" >> ~/.bashrc ``` 环境就配好了。 #### 机器人编队 在终端3个独立窗口下分别输入： ```bash roslaunch mbot mbot_empty.launch # 生成4个机器人 roslaunch mbot_follower follower_4.launch # 形成编队 # 可以选择键盘控制头车或者使用控制器控制头车 ROS_NAMESPACE=tb3_0 rosrun turtlebot3_teleop turtlebot3_teleop_key # 键盘控制头车 rosrun mbot tracking_demo.py # 轨迹跟踪控制 ```    #### 机器人协同导航 在三个终端窗口中分别输入 ```bash roslaunch mbot mbot_world.launch roslaunch mbot mbot_navigation.launch rosrun mbot set_goal.py ```