Cooperative Formation And Obstacle Avoidance Control Of Multi Robots In Complex Environment

With the development of control theory,sensor technology and robot,the multi robot sestem has become a hot research topic in the field of control.During the execution of the task,the system often need robots to create a desired formation and avoid interference of obstacles.Thus the problem of multi robot collaborative formation and obstacle avoidance control has received more and more attentions by scholars and experts.This paper focuses on the multi robot cooperative formation and obstacle avoidance tasks.Firstly,the research background and significance,the present situation at domestic and abroad of the multi robot cooperative formation and obstacle avoidance control are expounded,which proves the significance and value of this research.Then the control structure of single robot and multi robot are introduced.Finally,the distributed control structure of multi robot system in this paper is expounded.Secondly this paper focuses on the kinematics model of two wheels type mobile robot,and a kind of formation algorithm on trajectory tracking of multi robot based on virtual navigation method and backstepping method is proposed.Based on the design process of tracked control law,the Lyapunov function of the wheeled robot tracking system is constructed by using the Backstepping method.Through making the Lyapunov function negative definite,formation control algorithm is designed.And through three simulations,the effectiveness of the algorithm is verified.Then,for the formation control problem of two wheeled mobile robot in 3D environment,the formation model of the multi robot system is constructed in three-dimensional space,and through using the method of space projection,it is mapped to the two-dimensional plane to be analyzed.By combining the proposed formation control algorithm,a formation controller for wheeled robot in three-dimensional space track is designed.And through the threesimulation experiments of multi robot formation in three-dimensional space,the effective and accurate of the proposed the method are verified.Finally this paper focused on the issue of how to complete the formation and obstacle avoidance control of multiple mobile robots in a complex environment.In this chapter,based on the analysis method of three-dimensional formation control into two-dimensional control proposed in previous chapter,the obstacle avoidance strategy is set by combining obstacle avoidance method based on artificial potential field method,to complete the task of formation and obstacle avoidance of multi robot in complex environment.Finally,through two simulation experiments of cooperative formation and obstacle avoidance control of the multi robot,the effectiveness and anti-interference of this method are verified.In summary,in this paper,the distributed control structure of multi robot system is introduced,and a algorithm on cooperative formation control of multi robot is proposed.Then a method of cooperative formation for multi robots in three-dimensional space is designed.Finally,the research results of cooperative formation and obstacle avoidance control of multi robot under the complex environment are given,and through the simulation experiments,the effectiveness,stability and precision of the method proposed in this article are verified in turn,and the purpose of this study is reached to a certain extent.