Research On Formation And Path Planning Of Multi-Mobile Robots Based On Artificial Potential Field And Ant Colony Algorithm

Mobile robots are more and more widely used in various industries,but with the change of working environment and the improvement of complexity,a single robot has been difficult to meet the needs,it needs multi-mobile robots to work as a whole to complete a task.Referring to the common path planning schemes of multi-mobile robots,considering the advantages and disadvantages of different schemes comprehensively,and integrating the current multi-robot formation technology,this thesis has done the following work.Firstly,aiming at the formation,obstacle avoidance and path planning in the process of multi-robot movement,combining the advantages and disadvantages of various path planning schemes,this thesis proposes an artificial potential field and ant colony algorithm which combines the two algorithms.This algorithm integrates the artificial potential field into the probability transfer function of ant colony,and makes full use of the advantages of the two algorithms.Before path planning,ant colony algorithm will be affected by pheromone concentration.In the initial stage of path exploration,force field is introduced to find the optimal path more quickly and effectively.Secondly,the simulation experiments of path planning and formation are carried out in MATLAB development environment.The simulation results and performance index analysis of path planning under the condition of triangle and linear formation are given.By comparing the simulation results of ant colony algorithm and artificial potential field and ant colony algorithm,the advantages of artificial potential field and ant colony algorithm are verified.This method can avoid obstacles and maintain formation smoothly,and can find the optimal path.The result is better than ant colony algorithm.The optimization function of the proposed method is more significant,the quality of the route is higher,and the convergence speed is faster.Finally,the software and hardware of formation control and path planning of robot based on artificial potential field and ant colony algorithm are designed.The STM32F103C8T6 is used as the core of hardware circuits.The problems of hardware function debugging in the experiment are solved one by one,which proves that the scheme is feasible.