Research On Formation Strategy And Cooperation Method Of Multi-Spherical Robot

With the rapid development of science and technology,robot-related technologies have been continuously researched and improved,and the application fields of robots are also expanding rapidly,and have demonstrated its superior control performance and working environment adaptability in all aspects.The application fields of robots range from the earliest industrial production to today's service robots,military robots,space and marine exploration robots,etc.The application of robots has almost covered industrial production,national defense construction and daily life.A spherical robot is a robot with a spherical shape and a special shape.Compared with common mobile robots such as wheeled and crawler,it has the advantages of small size,easy attitude adjustment,and strong environmental adaptability.Therefore,spherical robots are used to perform tasks that are difficult for conventional robots to complete.However,when faced with complex and diverse forest,swamp,lake and other extreme environmental tasks,designing a precise single spherical robot is costly and the probability of failure increases rapidly with precision,and its operating capacity and efficiency are difficult to meet the demand.A multi-machine system composed of a spherical robot often has a stronger working ability than a single spherical robot in these cases.The comparison of the multi-spherical robot below with a single robot has the advantages of high efficiency,robustness,economy and flexibility.Therefore,this paper takes the multi-spherical robot as the research object,and researches the multi-spherical robot formation strategy and cooperation method.The specific research contents are as follows:First,a kinematic model of a spherical robot is established,and a geometric model of a multi-spherical robot formation problem is established based on the characteristics of the spherical robot.Secondly,this paper studies the task allocation method in the formation process of multi-spherical robot formation,and uses the market auction method to allocate the robot target position in the formation process.Then,the research of path planning method in formation formation is carried out.Combined with the motion characteristics of fast-rolling spherical robot,the artificial potential field method is improved,and a multi-spherical robot formation formation path planning algorithm is designed.Furthermore,the research on formation marching method is carried out.The fast marching method is used to search for the path of the pilot robot,and the motion trajectory of the pilot robot is generated and optimized.On this basis,the following robot is used to calculate the trajectory of the following robot to realize the formation march;Finally,the correctness and validity of the above research content are verified through experiments.