Research On Obstacle Avoidance Of Robot Based On Swarm Intelligence Algorithm

In recent years,the group robot system has carried out a lot of research work in many different aspects,and the cluster phenomenon is realized by designing various algorithms.At the same time,in order to verify the effectiveness of the proposed scheme,mathematical modeling,computer simulation and physical robot experiments have been widely used.Not only in medicine,but also in space exploration and oil exploration,swarm robots will play a vital role in the future.In this paper,the problem of group intelligent robot formation and path planning is studied.The simulation robot is Kilobot.The effectiveness of the research method is proved by MatlabR2016 b and V-rep simulation.The main research contents are:The application of traditional artificial potential field method in the obstacle avoidance of group intelligent robots.By constructing the potential field model to study the movement trend of group robots in the potential field,it tends to move in the negative gradient direction.At the same time of many simulation experiments,the advantages and disadvantages of the traditional artificial potential field are also analyzed.Two problems of the traditional artificial potential field algorithm,the target unreachable problem and the local minimum value problem,are proposed.Finally,the traditional artificial potential field is improved.While studying the traditional artificial potential field and improving the artificial potential field,wave algorithm is also introduced.Wave algorithm is an effective swarm intelligent robot obstacle avoidance algorithm.The basic idea is to guide swarm robots to obstacle avoidance through specific robots.The behavior of a single robot can be defined by a local algorithm that takes advantage of the basic concepts of distributed systems.For example,robots can communicate with agents directly.At the same time,swarm robots can also use indirect communication to perceive surroundings.The fusion of wave algorithm and artificial potential field algorithm can realize the overall obstacle avoidance function more easily and quickly.The mutual communication between the robots improves the overall robustness and the scalability of the swarm robot in the obstacle avoidance process,and can play an important role in exploring the unknown environment,and finally verifies the feasibility and effectiveness through simulation experiments.