Research On Control Strategy Of Multi-robot Formation

A single robot is increasingly unable to meet the needs of the social with the continuous development of science and technology.For example,the ability of a single robot is slightly insufficient when faced the complex tasks,the coordination of multiple robots is need in this situation.Multi-robot formation control can be described as the process of a lot of robots maintain a certain formation and move to the target point without collision to meet the need of task.The purpose of this paper is to improve the stability of the formation and the efficient when avoiding obstacle,the content can be summarized as follows:Firstly,the architecture of the multi-robot system is introduced;the model and method of formation control are also mentioned in this paper.Secondly,an improved adaptive volume Kalman filter algorithm is proposed in order to reduce the system noise and error caused by the mutation of the leader in the formation which is controlled by the follower-leader method.In this algorithm,the motion state of the robot is divided into two modes,namely transient state and steady state,and different system covariance Q of volume Kalman filter is selected according to the different state,and then the adaptive volume Kalman filter is applied to improve the accurate when predicted the position of the follower.Thirdly,an improved adaptive artificial field formation control algorithm is proposed for the problem of Local optimum and obstacle avoidance efficiency in the artificial potential field method.In this algorithm,different control strategies are used according to different obstacles,a dynamic adjustment factors is used to reduce the formation or transform the formation in order to adjust the formation of the entire formation.This algorithm improved the formation efficiency by achieved effective obstacle avoidance and short the time for formation recovery.Then,a hybrid control algorithm combining the improved leader-follower method and the artificial potential field method is proposed for the problem of no definite formation feedback in the leader-follower method and the local optimal problem in the artificial potential field method.In this algorithm,the improved leader-follower method is used to achieve the better follow for the follower,and the improved artificial potential field method is used to dynamically adjust the system formation.The combination of the two methods improves the correctness of the formation,reduces the time of formation and improved the stability of formation.Finally,the simulation experiment is carried out by using the proposed algorithm.The results verify the effectiveness and efficiency of each algorithm.