An Algorithm Research On Formation Control Of Multi-robot With Obstacle Avoidance And Capture

Nowadays,the research of multi-robot collaborative formation has gradually become a topic in the mobile multi-robot field.Compared with a single robot,multi-robot has better environmental adaptability,higher work efficiency,and better robustness when working in complex dynamic environments.And,cooperative formation and multi-robot obstacle avoidance increase the complexity of motion planning.However,the existing multi-robot target capture algorithms are difficult to form a stable structure in the target capture processing,or their structure are fixed and cannot be deformed through narrow environments after the target capturing.In this paper,the improved dynamic window method is used to optimize the formation speed and path to balance the operation speed and safety performance of a multi-robot system.The affine transformation is used to ensure the stability of the robot formation in the process of capturing suspicious targets and the deformation through narrow channels in the process of escorting targets.The main work is as follows:For solving the difficulty of simultaneously considering the multi-robot system speed and safety,this paper proposes an adaptive formation avoidance algorithm for multi-robot based on the improved dynamic window method.The algorithm achieves the balance of the two by obtaining the optimal speed and safety distance under different working conditions.To further improve the real-time performance of the algorithm,a two-level optimization framework is constructed.The global path planning of the upper layer is to reduce the search range of the lower local obstacle avoidance algorithm,and the lower local obstacle avoidance algorithm provides feedback for the upper layer.The combination of the two can successfully realize the adaptive cooperative obstacle avoidance of the security robot in a dynamic environment.For the problems of multiple dynamic suspicious targets,leader loss,and escort targets in the formation capture of multiple security robots,this paper studies a target capture algorithm of multiple robots based on affine transformation.Firstly,a multi-robot capture strategy based on affine formation is constructed to hunt single target and multi-target.Then,aiming at the leader missing issue in the target capture,the virtual leader is introduced to maintain the integrity of the formation when the leader lost.Finally,a formation algorithm,which is designed for online deformation obstacle avoidance,is proposed to solve the problem of multi-security robots formation deformation obstacle avoidance when escorting targets.The multi-security robots can adaptively change the formation,and safely pass the narrow region in the process of escorting targets.At the same time,the effectiveness of the proposed method is verified by simulation experiments.The problem that can be further studied and improved are summarized at the end of the article.