Experiment Design For Path Planning Algorithms Of Multiple Mobile Robots

The research of collaborate coordination control technology is one of the hot topics inthe current robotics research field. The coordination and cooperation control technologyon multi-robot systems mainly studies the coordination between the target and pathplanning in a group of robots. And these robots take action together to complete the giventasks. This paper is based on the analysis of the multi-robot development status and themultiple robots coordination control experimental system, and it studies the problems ofpath planning in multiple mobile robots, and designs coordination and cooperationalgorithm experiments at the same time.Firstly, the paper does a research on the path planning algorithm which is used in asingle mobile car to reach a target point based on the fuzzy method. The algorithmestablishes a global and local coordinate system to build an environmental model.Considering the car’s low control precision and inaccurate location information, we blurthe motion direction of the car, and then make a matching and fuzzy inference to the fuzzymovement trend after establishing the rule base of the expert system, which is based onthe idea of the artificial potential field method. Then the path from the initial state to thegoal state is established.Secondly, this paper puts up a path planning method of multiple mobile robots whichis based on a movement priority strategy. First of all, this method rules all mobile robotswith different priorities. And the mobile robot whose priority is the highest directly movesto the target and the lower one executes an obstacle avoidance behavior when a higherpriority car is found within its obstacle avoidance area, and then it moves to the goal.Finally, this paper does a certain study on the experiment of multiple mobile robotssystem. In the distributed multiple mobile robots system, it designs the experiments for thesingle mobile robot algorithm at first, and then it uses a distributed idea to divide acomplex task into the collaboration ones among the individual cars. And it designs someexperiments which include the experiment of reaching target point algorithm a singlemobile robot and experiments about multiple mobile robot path planning algorithms. Andthe latter one includes an obstacle avoidance experiment when multiple mobile robots aredynamic obstacles, Leader-Follower target tracking test, the target tracking experimentwhen the robots are as relay nodes under the Leader-Follower mode, mobile robotssurround the moving target experiment and the adaptability surrounding the goal experiment of SRV1mobile robots. In these experiments, first of all the designedalgorithm is downloaded into the mobile robots, and then the mobile robots execute thepath planning algorithm after getting the information from the image processing computer.And these experiments demonstrated the practicality and stability of the systemsuccessfully.