Multi-robot Formation Control Research Based On Improved Particle Swarm Optimization Algorithm

With the progress of science and technology and the expansion of the application range of the robot, the demand of robot’s ability and performance is also improved continuously, due to the limitation of the single robot, multi-robot’s collaboration could competent for some complex, dynamic tasks which single robot is not able to complete., In the field of multi-robot research, the technology of multi-robot formation control is a general and typical research direction, therefore,the research of formation control and its related technology is of high value。This paper uses the behavior of the pilot to follow the formation control method to study the multi-robot formation control, the improved particle swarm optimization algorithm CPSODE is used to optimize the formation robots’behavior weight parameter。Above all, after studying the traditional methods of formation control, in this paper we draw lessons from the two famous methods which are leader-follower method and the behavior method to bring forward the mixed formation control method。In this method, the leader robot is selected as the reference point of the whole formation, the rest robots in the formation as follower robot to make the mission; Then, this paper also set up the physical model of the robot and the environment, and according to the perform tasks of leader robot and follower robot design the basic behavior partly, use vector synthesis method based on the Motor-Schema structure for the vector synthesis of the basic behavior the formation robot, puts the synthesis result as the robot’s behavior。Then in the light of some defect in the process of using PSO, combine the DE, introduce the mechanism of information cooperation and exchange inter population particle to improve the convergence speed and accuracy of PSO; Finally, the CPSODE is used to optimize the behavior parameters of the formation robots。On the basic of this, the formation control method based on CPSODE algorithm is proposed, and through the comparative experiments to illustrate the feasibility of the CPSODE algorithm which is proposed in this thesis and the excellent of the formation control method based on CPSODE。The experimental results show that the CPSODE has better effect in terms of the property of convergence, search the result which is satisfactory; The formation control method based on CPSODE not only has a higher collision avoidance, obstacle avoidance performance, and can maintain a stable formation rate。...