Research Of Multi-robots Path Planning Method In Dynamic Environments

For multiple mobile robots system, how to find a safe path without collosion for each robot is a basic requirement. Therefore, the multi-robots path planning approach is emerging as a key technology in the study of multiple mobile robotics over recent years. Through the study of formation control of multi-robots, this thesis studies the problem of multiple mobile robots path planning from two aspects of coordination and cooperation.The formation problem in multi-robots systems is defined as the coordination of a group of robots to maintain a formation with a desired shape and reach a particular destination without collisions. The key problem of multiple robots system is the coordination and cooperation with each robot. Usually, coordination is used to resolve the conflicts and collosions among each robot and cooperation means that some robots collaborate to complete a task according to a mechanism. As for the formation of multi-robots, the coordination is the avoidance of obstacle and the resolvement of collsion with other robots, and the cooperation is used to maintain a formation with a desired shape. The main contents of this thesis are as follows:1. Investigated the current research status and main contents of mobile robots, according to the domestic and foreign relevant references. At the same time, gave the detailed introduction of current research status of multi-robots system, path planning and formation control.2. Introduced some kinds of theories and algorithms of path planning, mainly including the global path planning and the local path planning and presented a behavior fusion path planning method for mobile robots based on fuzzy logic.3. Through the study of formation control of multi-robots, explained the problem of coordination and cooperation in multi-robots path planning. Presented an observer based formation control algorithm for multi-robots.4. Built the simulated environment for multi-robots formation control with the Player/Stage software and compiled java program to control the simulated robots through TCP Socket in the Eclipse.