Research On Formation Control Algorithm Of Multiple Autonomous Mobile Robots Based On ROS

With the development of advanced productive forces and manufacturing industry,many developed countries and regions in the world have issued plans to develop and encourage robot technology.Single robot can generally be used to complete simple tasks,but it has some disadvantages,such as large size,high energy consumption,complex structure,poor flexibility and so on.With the accelerated development of "robotization" in the industrial field,multi-robot system comes into being at the right time,and has been widely concerned by scholars in the industry.This paper takes the autonomous mobile robot based on ROS system as the research object,and studies the formation control method of multi-mobile robot in dynamic environment by means of theoretical analysis,simulation and experiment.The main contents include:Firstly,aiming at the problem of inaccurate location of Hector SLAM algorithm based on lidar in indoor environment,combined with the concept of subgraph proposed by Cartographer algorithm.An improved algorithm for scanning to subgraph based on Hector SLAM is proposed.Firstly,the laser scanning matching method is used to construct the subimage,and the more accurate pose of the robot is obtained by GaussNewton optimization.With the passage of time and the accumulation of the subimage,the cumulative error is eliminated through the Ceres nonlinear optimization library,and finally the accurate global map is obtained.Experiments are designed to verify that the proposed method can improve the accuracy of indoor positioning and map construction.Secondly,aiming at the problem of formation control of multi-robot system,a formation control algorithm of multi-robot system based on improved artificial potential field method is proposed.The concept of virtual kernel is introduced to realize the adaptive formation control of multiple robots.The attractive interference component of the target point is introduced,and the backtracking-reconstruction method is proposed to solve the local minimum problem in APF.The repulsive force in APF can realize obstacle avoidance and collision avoidance,and the virtual kernel can control the movement of multi-robot to the target point under the gravitational action of potential field,so as to realize path planning and multi-robot task coordination.In the process of multi-robot movement,when a single robot fails,merges or schedules,the algorithm can realize group reconstruction and improve the effect of group control and the success rate of task execution.Finally,the simulation results show the effectiveness of the method.Finally,using the multi-autonomous mobile robot platform based on ROS system,the formation control real scene experiment is designed.The comparison method is used in the experiment,and the algorithm in this paper is compared with the traditional artificial potential field method.The experimental results show that the improved algorithm has good adaptability and robustness in the formation control of multi-robot system.At the same time,compared with the traditional artificial potential field method,the experimental results show that the formation control algorithm designed in this paper has good adaptability for multi-robot formation control,and can effectively improve the success rate of the robot escaping from the local minimum.Keywords:robot,multi-autonomous mobile robot system,lidar,artificial potential field method,formation control.In summary,this paper studies the APF control algorithm,and achieves the goal of improving the success rate of robot escaping from the local extreme point,and has a certain theoretical significance for the research of formation control and obstacle avoidance of multi-autonomous mobile robots.