Research On Motion Control Of Micro Robots Cluster In The Field Of Obstacle

The swarm mobile micro robots can solve the complex problems that a single micro robot cannot handle in the case of space exploration,dangerous areas and other challenging obstacle field areas.That is why more and more experts and scholars in the field of Robotics are starting to pay more attentions to the study of mobile micro robots swarm system.The key technologies of mission micro robots in obstacle field areas including communication relay,environment detection and path planning,are studied in this paper based on the obstacle field areas environment built in the laboratory and the platform of micro robot which is designed,researched and developed by ourselves independently,aiming to provide key technical guidance and theoretical support for the practical application of multiple mobile micro robots swarm.In order to carry out the research,our research team designs and develops the mechanical structure model of wheeled mobile micro robot based on differential drive,and designs the mobile micro robot's hardware and software architecture according to the requirements of micro robot to perform tasks in the field of obstacles which can perform well in the control of mobile micro robot.The mobile micro robot needs to communicate and interact with the control center in real time when performing tasks in the field of obstacles,while the communication distance between the micro robot and the control center in the obstacle field is affected by the obstacle,leading to the phenomenon of communication interruption between the task execution mobile micro robot and the control center.Considering the limits of visual field and communication distance of micro robot,in order to implement the communication relay,this paper proposes Voronoi partitions algorithm,combined with the improved vector based algorithm,taking multiple robot as the intermediate node.The method of virtual repulsion help to increase the distance between micro robot and relay robots within communication distance range.What's more,this method expands the network coverage,and then increase the distance between the task execution micro robot and the control center.The validity of the proposed method in micro robot communication relay is verified by the experiments.Considering the ability of the robot's perception and the computational performance of the processor,a boundary detection algorithm based on infrared sensor is proposed in this paper,which can also be effective for the detection of unknown obstacle environment while reducing the complexity of the boundary recognition.Aiming to solve the problem of path planning of micro robot cluster in the obstacle environment,the hybrid objective function is proposed by combining the path planning of micro robot cluster and the dependence of avoiding collision.The improved artificial bee colony algorithm is used to obtain the local optimal position coordinates of the micro robot,and then obtain global path of the micro robot from the initial position to the target location.Experimental results demonstrate the effectiveness of the proposed method.