Multi-robot Optimal Formation Control Based On Adaptive

In recent years,the artificial intelligence industry represented by robots has gradually entered various industries,the single robot system can not meet the needs of people's production and life in many aspects,multi-robot cooperative control has become a popular direction in the field of robot today.Multi-robot formation control is the basis of multi-robot collaboration research,the traditional multi-robot formation control method is relatively complex,which is difficult to implement and can not adapt well to the external environment.In practical applications,multi-robot formations need to face complex environments and often need formation transformation.The actual demand puts forward higher requirements for us to study multi-robot formation control algorithm in adaptive aspects.Therefore,based on the indoor ground autonomous mobile robot,this paper studies the formation optimization control method of multi-robot adaptive for the formation algorithm,formation transformation,leader mode and obstacle avoidance control,and conducts experimental verification.The main research contents are as follows.(1)This these analyzed the problems of the traditional leader-follower algorithm,such as the complexity of the algorithm,long formation stability time,easy to shake and overshoot,the leader-follower algorithm is improved,and the stability of the improved algorithm is proved theoretically.Then,a speed compensation algorithm based on position information is proposed,aiming at the problem of algorithm parameter setting,the concept of parameter adaptive based on speed compensation algorithm is proposed,which saves the time of parameter adjustment.Finally,experiments are conducted on the Pioneer3-DX ground mobile robot platform,which proves the correctness and effectiveness of the proposed algorithm.(2)Aiming at the problem of formation change of multi-robot system and the collapse of the whole system due to the failure of the leader,the formation change strategy of multi-robot system and the switching strategy of multi-navigator mode are given.The formation transformation adopts the strategy idea of minimum transformation cost,and adaptively adjusts the formation accordingto different situations.The backup leader is selected based on the formation optimization to make the multi-robot system more stable.Finally,based on experiments on the robot simulation platform,The effectiveness of formation transformation strategy is verified.(3)Aiming at the obstacle avoidance problem of multi-robot systems,this these designs a formation obstacle avoidance strategy combining artificial potential field method and speed compensation algorithm,carry out obstacle avoidance simulation and physical experiment research on Bobac2 for formation formation and formation maintenance process,verifies the effectiveness of formation obstacle avoidance strategy.Based on bilateral obstacles,a multi-robot adaptive formation transformation obstacle avoidance method is given,give full play to the role of leader,ensure that the system passes obstacles safely and efficiently,and the effectiveness of formation transformation obstacle avoidance strategy is verified through simulation experiments.