中文摘要：

多移动机器人协调是当前机器人技术的一个重要发展方向,但是在农业上的应用并不多。为了提高采摘机器人的智能化程度及作业效率,实现多机器人的协同实时控制,提出了一种基于Web的多机器人远程编队控制系统。针对当前Web实时应用程序技术的不足,构建了一种基于SingalR的Web实时应用程序框架,该框架可以实现逻辑和动态的执行任务,并将实时更新的数据定时地发送到所有连接的客户端。结合多智能体网络对采摘机器人的编队控制进行了研究,根据具体的多机器人系统,进行了实验测试,得到了多机器人编队控制的规划路径,计算了多机器人控制的残差精度,最后对多采摘机器人的工作效率进行了测试,验证了基于SingalR的Web实时应用程序框架在多采摘机器人编队控制中使用的可行性。

英文摘要：

The coordination of multiple mobile robots is an important direction of the development of the robot technolo- gy, but not many applications in agriculture, in order to improve the picking robots, improve work efficiency, multi robot collaborative real-time control, and puts forward a kind of control system based on web remote robot formation. In view of the current real-time web application technology, build the a SingalR the real-time web application framework based on, the framework can achieve dynamic logic, and execution of the task and real-time update of data regularly sent to all the connected clients. Combining the multi-agent networks, the picking robot formation control is studied, according to the specific of the multi robot system, experimental test, the formation control of multi robot path planning, to calculate the residual accuracy of multi robot control, and finally verification based on SingalR real-time web application tested on more than picking the framework in more than picking work efficiency of the machine, the feasibility of using robots in formation control.