| The research on the multi-robot begin in the1980s, many domestic colleges andforeign researchers study it deeply. Multi-robot system has many advantages andcharacteristics，compared with a single robot, such as the characteristic of parallelismstrong fault tolerance, the function of the robots in the multi-robot system overlappingincreases redundancy and improves the system of robustness, reducing the cost ofconsumption etc. In addition, the research on multi-robot system can also improve theunderstanding of the researchers about some basic knowledge of organizationalbehavior, economics and the life science.We mainly have a further research on the problem of multi-robot formationcontrol in this paper. Firstly we introduce the development of robots’ technology indetail. The architecture of multi-robot includes population structure, individualstructure and then describes respectively their role. Secondly, introducingmulti-robot’s path planning method, they include: the traditional method andintelligent method. In this paper we carry out the simulation of multi-robot formationbased on the artificial potential field method, selecting the reasonable position of therobot based on the target search algorithm in the simulation process, avoidingobstacles based on the artificial field method. The initialization formation process isdemonstrated, we take the triangle formation as an example. Then we have a researchon multi-robot formation control. Multi-robot avoids obstacles during the moving tothe target position as far as possible to maintain the known triangle formation. Weadjust the repulsiveness or attractiveness of the artificial field method to control therelative position between the robots. The simulation results show the validity of theartificial potential field method. So we want to further improve multi-robot formationcontrol and reduce the error with the relative position of the formation. At last wecarry out multi-robot formation control and obstacle avoidance based on acombination method of the leader-follower method and the artificial potential fieldmethod, the smaller error with the relative position between the robots. Thesimulation results prove the effectiveness of the algorithm. |
