Study On Formation And Obsatacle Avoidance Of Multi-robot System Based On Complex Networks Theory

In recent years, with the widespread attention on the study of complex networks in differentscientific fields, the theory of complex network not only exists in the field of mathematics, but alsobecomes a new hot topic in practical application.Multi-robot system has more advantages than single-robot system. When there are a largenumber of robots, we can study the formation control and keeping of the multiple mobile robotssystem better with the help of the complex network theory. Each mobile robot is regarded as a nodein the network, and the robot perception and communication relationships with each other as theedge, then the mobile robot system can be regarded as a network, and the coupling topology canalso be represented by a network. So it is a very important research topic of using the complexnetwork synchronization in multiple mobile robots cooperation.Firstly, this dissertation introduces the two round robot of the model of leader-follower structure.For several existing robot path planning method, we can improve the existing control methods sothat it can better fulfill the formation. In the previous study, the leader-following method is usedonly for multiple robots formation control, but this dissertation shows that this method can also beused for obstacle avoidance control of multiple robots system.Secondly, it introduces the application of the complex networks synchronization theory inmulti-robot system. It analysis the robot system of the formation of the nearest neighbor networkand star network, and provides design method for dynamic synchronization control law which cansolve the problem of multi-robot tracking easily.Finally, it introduces the obstacle avoidance of multiple mobile robot in an unknownenvironment by using the artificial potential field method. For some special positions, as well asspecial relative motion problems, the improved artificial potential field method, combining with theapplication of the complex networks synchronization theory, can solve the mobile robot system pathplanning issues. The simulation proves the correctness of the proposed method and algorithm.