Research On Behavior-based Formation Control Of Multi-robot

In recent years, with the development of the research, the mobile robot control method ismore and more intelligent. In unknown environment, a single mobile robot can notaccomplish complicated tasks, because its power and the perception range are limited. Severalmobile robots can work collaboratively to accomplish complicated tasks which cannot bedone by a single robot. The researches of formation control draw more and more attention.In this paper, the main research area is the formation control strategy using behavior-basedmethod. The main research about this dissertation is as follows:Firstly, the choice of system architecture is very important. In this paper, several systemarchitectures are discussed. The distributed structure and the reactive control architecture arechosen as the structures of this research. At the same time, several simulation platforms arecompared. Teambots is chosen as the platform of this paper.Secondly, three problems of multi-robot formation control are discussed. Three formationcontrol methods and their advantages and drawbacks are presented in this paper.Behavior-based formation control method is chosen to be the main research direction. Fiveprimitive behaviors called move-to-goal, avoid-obstacle, swirl-obstacle, random-noise andmaintain-formation are introduced for the formation control strategy.Finally, using Teambots simulation platform, the simulation experiments are done,including single robot navigation, multi-robot formation control in the static environment,multi-robot formation control in the dynamic environment and formation figure changing.Aiming at the line-formation, single-neighbor-referenced and double-neighbor-referencedapproaches are used, and double-neighbor-referenced approach performs better. Simulationexperiments indicate the feasibility and validity of the control strategy. Meanwhile, theresearch of wireless communication is taken.