Distributed Formation Algorithm Of A Multi-robots System

The formation control is an important issue in cooperative control for a multirobots system.With the rapid development of computer technology and artificial intelligence,the distributed formation control of a multi-robots system attracts more and more attention.Robots can cooperate to generate the desired formation,purely through local interactions.This paper focuses on the distributed formation control of a multi-robots system,and the main research contents are as follows.Firstly,this paper introduces the research background,significance and the research actuality of the formation with a multi-robots system.In addition,the base theory knowledge is also introduced,such as graph theory,the coordinate transformation method under the reference coordinate system,consensus algorithm and task alignment.In a word,these theories make a good foundation for the research work of this paper.Secondly,we propose a distributed algorithm to demonstrate the self-assemble of a multi-robots system to form the desired formation.We define four primitive behaviors including gradient communication,localization,cohesion,and separation for the robots to achieve the formation.Any collective behavior is to be performed by the robots purely through the local interactions with their neighbors.We validate the feasibility and performance of our proposed algorithm by simulations.Finally,we consider the limited actuation and communication capabilities of each robot.So,we propose a distributed algorithm for a multi-robots system based on the geometrical center of the initial distributed robots.The algorithm can reduce the total distance moved by the robots and save energy.The initial formation reconfiguration is transformed the reconfiguration based on the initial distribution of robots.We employ an optimal auction assignment algorithm to solve where each robot goes,and behavior control determines how each robot should reach its final destination in a collision-free manner.Results of simulations show the effectiveness of the proposed algorithm.