ISRV-based Path Planning And Formation Control

With the rapid development of science and technologies,mobile robot control is one of the frontiers in automatic control.It has a huge influence not only on scientific research but also on our daliy life.The function of a single robot gradually gets better and better under the development of automatic control technologies and artificial intelligence.And then they can complete more difficult tasks for the robots.In addition to improve the single robot,the coordinate control of multiple robots has been more popular.The path planning and the formation control are the basis of multiple robots coordinate control.Although the demand for the practical application of multiple mobile robots system urgently,the complex algorithm that are applied in multiple mobile robot system is also lack of further research and application.Therefore,we consider the path planning and formation control problem in this paper,which combined with the multiple robots system and the existing research results.The researches of this parper are as follows:(1)Based on the needs of the project,we set up an experimental platform firstly.By simulating the actual application of the single/multiple mobile robots system,we bulid the experimental platform.In order to further verify the proposed path planning and formation control algorithms,the mobile robots are analyzed and modeled by force analysis in experimental platform.(2)Then,in order to solve the dead lock problem that by applying the traditional particle swarm optimization(PSO)algorithm in multiple obstacles envriment,an improved particle swarm optimization(IPSO)algorithm is proposed in this paper.Moreover,a joint IPSO and grid network algotithm is also proposed for optimal path planning in multiple obstacles envriment.Experiments have confirmed the effectiveness of the proposed algorithms.(3)Furthermore,we applied the IPSO algorithm for multiple mobile robote formation control in multiple obstacles environment.In order to further overcoming the drawback of formation control,we also use the joint IPSO and grid network algorithm for multiple obstacles environment.Then we verified the effectiveness of proposed algorithm for formation control problem in experimental platform.(4)According to the expanded requirements of the project,the master-slave formation control problem for the unicycle model is considered under the simple movement of the master.A distributed controller is designed based on lyapunov function.And then we analyzed the stability of the system and the simulations are given through the MATLAB.