The Research Of Collaboration Obstacle Avoidance Method For Multi-agent In Unknown Environment

Development and application of robotics is one system of industrialization and information technology integration. Autonomous obstacle avoidance is one of the hot issues in the field of mobile robots, but also to achieve the main signs of intelligent and automated. This paper further explores the obstacle avoidance of a single agent in a static environment and collaboration between multi-robot collision avoidance technology.When robot achieved autonomous motionin unknown environment, the key problem is that identifying the surrounding and transforming the operating environment for the language robot can recognize. In the absence of prior knowledge, using laser sensors to scandata establish the characteristics map of the robot, while taking advantage of the method and the laser sensor odometer joint positioning, to determine the specific location of the robot in the environment.Unknown environment for obstacle avoidance, we use segmentation and clustering methods to identify obstacles in the environment and determine the robot’s safe passage. Research a single robot obstacle avoidance and obstacle avoidance of multi-robot collaborative methods. After identifying the distribution of environmental obstacles and the robot position in the environment, according to the known robot can avoid obstacles information environment of security planning out an optimal path, but the path of the robot can also prevent conflict. Such robots can achieve freedom of movement in the environment, while avoiding static obstacles in the environment and other robots.Heuristic search algorithms achieve local planning. Avoid obstacles while planning out an optimal path. Robot reached the target point with the shortest path. Faced with multi-robot system, the host uses the principle of the best time to coordinate the movement of several robots. When collisions occur between the robots, the robot of low priority reduced speed to avoid high priority robot, enabling collaboration between robots avoidance. Experimental results show that:The heuristic search algorithm could realize obstacle avoidance function. But also we verified the speed collision avoidance principle to achieve avoidance of multiple robot cooperation was feasible.