Collaborative Obstacle Avoidance And Path Planning For Ground Multi-Mobile Robots

Mobile robot is a kind of intelligent robot system with high autonomy.It can effectively replace human beings to complete high-risk and repetitive work,and play an increasingly wide-ranging role in the fields of industry,agriculture,military and scientific research.In the moment,as people's tasks assigned to mobile robots become more and more complex,multi-mobile robot systems have emerged.The multi-mobile robot system has the advantages of cooperative complementarity and scheduling synergy that a single mobile robot does not have,and exhibits a unique role in specific scenarios such as warehousing and transportation,and environmental exploration.The problem of how each robot in the multi-robot system perceives environmental information,control the formation structure and path planning has become one of the key technologies for multi-robot collaboration and coordinated control.This thesis mainly focuses on mobile robots in indoor environment,and studies the environment perception,formation control and path planning of multi-robot systems.The specific research contents are as follows:Firstly,as the structure and motion characteristics of mobile robot system are analyzed,the kinematics and dynamics model of mobile robot are established.For the perception of mobile robot environment,map,odometer,sensor noise and radar ranging model are established.Secondly,the indoor positioning and navigation of mobile robot are introduced.The principle of simultaneous localization and papping technology is expounded.The method of indoor positioning and mapping of mobile robot is designed based on cartographer project.The traditional path planning method of rapidly exploring random tree is improved and successfully implement the obstacle avoidance and navigation function of indoor mobile robot.Finally,a multi-robot path planning function is designed for multi-mobile robot path planning based on improved RRT algorithm and genetic algorithm.Then,the problem of mobile robot trajectory tracking is studied.Aiming at the motion of mobile robot under ideal conditions,the disturbance observer is used to estimate the external disturbance of the system.The iterative learning controller is designed,and the iterative learning parameters are optimized online by applying fuzzy logic to realize the desired trajectory of the mobile robot.Next,the research on formation control of multi-mobile robot systems is carried out.Based on the pilot-follower formation control method,the formation control structure is established.After the essence of formation control is defined,the kinematic controller based on iterative learning control and the dynamic controller based on fuzzy control are used as the multi-layered ideas to design the robot formation controller;Finally,the effectiveness of the designed formation motion controller is verified by numerical simulation.Finally,the hardware system of mobile robot in indoor environment is built,and the control panel,airborne computing system,communication module and other modules of mobile robot in indoor environment are designed.At last,the effectiveness of the designed mobile robot system is carried out through hardware experiments.