Dual Robot Coordinated Motion Based On ISCP Real-Time Algorithm

In recent decades,with the continual development of robot technology,its application is more and more extensive.Nowadays,the application of a single robot has matured and almost penetrated into various fields.However,a single robot system is often unable to complete complex tasks.Multi-robot systems can accomplish many complex tasks concurrently through mutual cooperation and coordination between robots.So as to improve the working performance and efficiency of the system,enhance the flexibility and robustness of the system.Therefore,a multi-robot system has been proposed.In a complex environment,robots often need to avoid obstacles and form and maintain a desired formation between the robots to complete the scheduled task.Therefore,robot obstacle avoidance problems and formation problems have become the focus of multi-robot systems.This thesis focuses on the obstacle avoidance and formation problems of two robots.First,the research background and application significance of multi-robot systems are introduced.The main research problems and research difficulties of multi-robot systems are pointed out.Second,the current situation of the multi-robot systems motion planning and formation problems is introduced.The existing trajectory planning methods and formation methods are briefly introduced.Finally,a real-time robot distributed trajectory obstacle avoidance and formation method is proposed.The i SCP algorithm and the MPC control strategy are used to plan the trajectory of the robot so that it can not only move in real time during the process from the initial position to the target position but also avoid obstacles and reach the target position with an optimal trajectory.The CTL specification is used to control the formation of two robots so that the robot maintains a certain formation during the movement.Compared with the previous methods of trajectory planning and formation,the method proposed in this thesis has the following advantages:(1)The method proposed in this thesis can plan the path of the robot in real time in a global unknown or partially unknown environment.The off-line method is unable to make the robot avoid obstacles due to the occurrence of dynamic obstacles in the robot operating environment;(2)The accuracy of the method proposed in this thesis is the accuracy of the sensor.The calculation accuracy of the grid method depends on the size and number of the divided grid.Therefore,compared with the grid method,it is obvious that the method proposed in this thesis has higher calculation accuracy;(3)This thesis uses the CTL specification to transform the nonlinear convex constraints in the traditional mathematical programming method into linear convexity constraints,which can solve the feasible solution of the problem with greater probability and greatly reduce the computational complexity.Matlab software and CVX solver are used to verify the algorithm proposed in this thesis.First,the trajectory of a single robot and two robots are planned by using the i SCP algorithm and the MPC control strategy,so that robots do not collide with obstacles in the process of moving from the initial position to the target position and reach the target position with the optimal trajectory;Second,based on the trajectory obstacle avoidance algorithm of two robots,the CTL specification is used to control the formation of the two robots,so that the robot maintains a certain formation during the movement.The simulation results show that the proposed method can make the robot avoid obstacles and maintain a certain formation in an optimal trajectory in the process of moving from the initial position to the target position in real time.