Research On The Control Method Of Multi-robot Formation In Unknown Environment

With the development of computer technology,communication technology and automation technology,the application range of mobile robots has become wider and wider,and robot technology has attracted the attention of researchers.Multi-robot collaboration can accomplish more complex and difficult tasks than a single robot.Such as: multi-robot construction of unknown environmental maps,transportation of large objects and round-up of targets.In order to achieve specific tasks,multi-robot teams are required to maintain stable formations and effectively circumvent them according to the obstacle environment,thus triggering a research boom in multi-robot formation control and obstacle avoidance algorithms.In this paper,the ground mobile robot is taken as the research object,and the multi-robot is used in the environment of unknown obstacles.The multi-robot formation obstacle avoidance control algorithm is studied.(1)Firstly,the research status and development trend of multi-robot formation technology are described,and the key technologies of multi-robot formation are introduced.The omni-directional mobile experiment platform was built,and the hardware architecture and program architecture of the platform were described in detail.It provides an experimental platform for verifying multi-robot formation control algorithms and obstacle avoidance strategies.(2)Secondly,the basic behavior of a single robot in the formation process is introduced.Based on the traditional pilot-following formation control algorithm,the pilot-virtual following robot formation control algorithm is proposed.According to the position and angle error between the following robot and the virtual robot,a fuzzy formation controller based on fuzzy control theory is designed.(3)In order to solve the obstacle avoidance problem of multi-robot in unknown environment,an obstacle avoidance strategy based on artificial potential field method and moving along obstacles is designed for piloting robots.For the following robots,based on the obstacle avoidance mode of piloting robots Using the position information of the pilot robot and the surrounding environment information,the corresponding obstacle avoidance strategy of the robot is designed.Two kinds of multi-robot obstacle avoidance evaluation indicators are proposed.(4)Finally,the python editing environment is used as the simulation tool,and the pygame module is used as the mapping tool to perform robot formation control and simulation verification of the obstacle avoidance algorithm in the obstacle environment.The formation algorithm and obstacle avoidance algorithm experiment were carried out on the omni-directional mobile experimental platform,and the experimental results were demonstrated.