Research On Multiple Robots Formation Control In Dynamic Environment

With the development of robotics technology, the application of robotics has been extended more and more widely. The robot is required not only to complete some simple tasks, but also to achieve complex tasks with complex and dynamic environment. For many complex tasks, it is hard or impossible for single robot to accomplish by itself. Therefore the system composed of mutiple robots is considered and the tasks are performed through coordination and cooperarion among multiple robots. Formation control is a typical problem in multi-robots coordination and cooperarion. So formation control of multiple robots in dynamic environment is discussed in the thesis.In the thesis, firstly, the features of the multi-robots systems with the status and orientation of formation control are introduced. System architecture is very important in multi-robot control and so an architecture of layered behavior integration has been desiged. And then several typical types of formation control methods are analyzed. In the thesis an improved method based on leader-follower is used.Then the single robot's motion planning is studied. Three behaviors including moving to goal, avoiding static obstacle, avoiding dynamic obstacle are designed . Deterministic-sampling method and tangent available-territory method are adopted to avoid static obstacle. Fuzzy control is used to control velocity to avoid dynamic obstacle.At last, formation control of multiple robots based on the improved leader-follower method is analyzed and studied. For the defect of the traditional leader-follower the feedback mechanism is used. Considering the differences of the environment, the dynamic transformation of control formation is used. The results and analysis of the simulation prove the effectiveness and feasibility of the improved algorithms.