Research On Path Planning And Collaborative Formation Of Multi Robot

Formation control of multi-robot system is widely used, such as environmentalinformation searching, target transportation, information collection, militaryconfrontation, etc. Formation control of multi-robots became the challenge researchtopic among multi-robot research issues; it is also a common topic of cooperation.The study is very important theoretical and practical significance. The path planningis one of the key problems of formation control of multi-robot research.The obstacle avoidance and formation transformation of multi-robot were studied,based on formation control of multi-robot combined with the improved path planningalgorithm. The experimental platform system was designed, which was consists oftracked mobile robots developed by ARM embedded system, PC monitoring softwaredesigned by VS2010(Microsoft Visual Studio) and Zigbee wireless communicationmodule.The traditional VFH(Vector Field Histogram), VFH+algorithm were analyzed.The adaptive threshold was proposed considering the effect of threshold and therequirement of trajectory of formation control. Path planning and obstacle avoidanceby VFH, VFH+and improved VFH+algorithm in MATLAB software had realizedthe simulation and comparison. The simulation results show that the improved VFH+algorithm has good real-time performance, stability, better able to complete the pathplanning.A decentralized control strategy based on virtual leader was proposed aiming atthe angle change of the leader-followers formation control causing the unstableformation. The paper introduced a virtual leader with path planning on improvedVFH+algorithm to control the formation direction in leader-followers formation; atthe same time the leader led followers to tracking virtual leader trail and completingthe formation control. The simulation experiments of obstacle avoidance andformation control of multi-robot were implemented by VFH+path planning algorithmbased on virtual leader and formation control algorithm under the Player/Stage opensource software. The simulation results verified the validity of the proposed formationcontrol algorithm, and the problems in the simulation were analyzed and amended.Experimental platform of multi-robot formation control system was built. Trackedmobile robots based on ARM embedded system and PC monitoring software wasdesigned and implemented. The transplantation of path planning algorithm and theformation control algorithm was completed in PC monitoring software. The motioncontrol of tracked mobile robot had implemented through the Zigbee wirelesscommunication module. A robot collects data to the PC. The mobile robot trajectoryand curve of temperature and humidity can real-time display on the PC interface.Experimental results proved the validity of the algorithm.