| With the progress of society and the development of science and technology,the tasks that robots have to deal with are becoming more and more complex and difficult,the working environment is more complex and changeable,and individual robots are greatly limited by many factors such as their own structure and functions,at this time,the swarm-robot system with the advantages of strong independence and adaptability to environment is emerging,and has a growing trend.In the research of swarm-robot system,formation control is the basis,such as cooperative capture and coordinated handling are all based on formation control.The formation control problem of swarm robots can be divided into two sub-problems: formation generating of swarm robots and formation preservation of swarm robots.In this paper,the formation generating problem is studied,including how to determine the corresponding target nodes of each robot in the system and how to avoid conflicts in the course of motion.Based on the research,this paper presents a new method of formation generating of swarm robots based on probability,it combines the advantages of existing methods(Artificial Moment Method,Artificial Social Position Method and so on).When there are multiple robots competing for the same node,the method makes these robots randomly generate a probability and compare it with the given value to decide whether to continue to select the original target node or a new target node.And then,using the artificial moment motion controller designed in this paper(its basic principle is to use the Artificial Moment Method,output steering),to drive each robot to move after obtaining the position of the robots and the target nodes,finally the target formation is formed.At last,the simulation and analysis are carried out on the MATLAB simulation platform,the process proves that the new method is not only feasible but also effective,and can achieve the goal of accuracy,efficiency and low computational load. |
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