Research On Formation And Motion Control Of Multi-robot

This paper take the multi-robot formation as research object, the main contents and results are given as follows:1. A hybrid formation control method which composed of leader-follower method and behavior based method are applied. Shape matrix and formation reference matrix are employed to describe formation. Based on negotiation mechanism, assign the robot position in formation, a method which effectively improve the speed of multi-robot formation establishment is proposed.2. Taking the robot steering capability and velocity into account, the VFH (Vector Field Histogram) path planning method are improved to fit mentioned robot kinematics model. Two kinds of formation transform methods, changing topology and constant topology, were used to realize multi-robot formation obstacle avoidance, and simulations were taken in Player/Stage platform.3. In multi-robot cooperative hunting issue, the movement strategy to prey and trackers are designed respectively, through multi-robot formation method, the multi-robot cooperative hunting experiment simulation was taken, to prove the stability of the hybrid formation control method and the feasibility of cooperative hunting strategy.