Multiple Mobile Robot Path Planning Design Based On APF And ACO

In recent decades,the development of robot technology is rising rapidly,and a variety of applications related to robots are becoming more and more extensive,almost all walks of life are related to robots.From the research of a single robot to the formation of multiple robots,the purpose is to complete the task through the robot better.Multiple robots can more efficiently complete those tasks that can not be accomplished by a single robot through certain control principles.Thus it can be seen that the application of multiple mobile robot cooperation is of high value,and all fields are more or less related to it.At present,the formation-related methods of robot groups have become a hot research topic in many areas.This paper takes the multiple mobile robot as the research object,studying its path planning problem.At the same time,it also explores the formation of multiple robots to achieve the purpose of multiple mobile robot path planning,in order to complete the specific tasks that a single robot can not complete.First of all,this paper mainly studies the local path planning of robots based on the improved artificial potential fields.It not only analyzes the local minimum problem and the unreachable goal problem of the artificial potential field but also puts forward some improvement measures to solve the two problems.After that,the simulation verification of the two problems is carried out according to the improved artificial potential field,and the effectiveness and correctness of the improved algorithm are analyzed.Then,the multiple robot formation control was achieved through the graph theory-based control method.In order to solve the formation problem of multiple robots,a formation control diagram model is established.For the structure of a single leader-single follower,the formation control method based on the Line-of-Sight(LOS)method is studied.For the structure of a single leader and double follower,a formation control model based on objective function is established.Finally,for the problem of global path planning of multiple robot cooperative formation,first of all,the ant colony optimization should be improved correspondingly,and at the same time,the grid map should be established as the working environment of robot path planning.Then use a hybrid algorithm combining artificial potential field with ant colony optimization to calculate an optimal path from the starting point to the end point for the leader robot;Then,on the basis of the path planning of the leader robot,through the combination of graph theory-based formation control method,we can control multiple robots to drive a better path from the starting point to the end point.