Reserch On Path Planning And Formation Of Micro Mobile Robot

With the rapid development of the disciplines of computers,sensors and automation control,multi-robot technology is receiving more and more attention from scholars and experts.When multi robots carry out a task,it usually requires these robots to form a desired formation and serch a optimal path.Therefore,the path planning and formation research become the hotspot and trend for current multi-robot technology.As the basis of multi-robot navigation and collaboration,it has been widely used in many high-tech fields,such as military rescue,nuclear industry,aerospace,and marine survey.This paper focuses on multi-robot formation and path optimization tasks.Firstly,it introduces the background and significance of multi-robot formation and path optimization.The research status in domestic and overseas are also described.Further,the global coordinate and the local coordinate are established,and their relationship is shown.The holonomic and non-holonomic constraints are introduced,and the kinematics model of the mobile robot is established.Based on these,the non-integrity analysis of the wheeled mobile robot is carried out through the kinematics equation.Secondly,A path optimization algorithm based on improved ant colony algorithm is proposed By improving parameters and the initial pheromone matrix of traditional ant colony algorithm,the improved algorithm can quickly find the optimal path and greatly improve the convergence speed.Thirdly,the formation control problem of two-wheeled mobile robot is focused.Two different trajectory tracking controllers based on PID algorithm and Lyapunov algorithm are designed.Through simulation and analyzing,it demonstared that the tracking controller based on Lyapunov algorithm is superior to the other.So,the trajectory tracking problem is solved by Lyapunov controller.Meanwhile,the stability and effectiveness of the controller are verified through simulation.Finally,multi-mobile robots formation problem in complex environment is studied.Based on the trajectory tracking controller designed previously,the multi-robotsformation issue is converted to trajectory tracking problem.Furthermore,the leader following formation control method is employed to complete the multi-robot formation task.