Research On Cooperative Formation Control Technology For Multi-mobile Robots

With the development of artificial intelligence technology,robots are becoming more and more intelligent and can be competent for more and more complex tasks.Robots are also applied to various fields to provide convenience for human's production and life process.In some special application scenarios,such as military reconnaissance,heavy cargo transportation and so on,the tasks that robot needs to perform are often highly distributed and complex,and a single robot is not competent.Therefore,multi-robots system emerges.Multi-robots system can perform complex tasks with high efficiency.In the field of multi-robots system applications,multiple robots often operate in formation,and the formation control technology for multi-robots system has also been focused on.In this paper,the formation control technology of multi-mobile robots formation system is studied to meet the task requirements of cooperative transportation,which provides a theoretical basis for the promotion and application of multi-mobile robots system in the field of logistics and transportation.The main contents of this paper are as follows:Study the problem of formation points assignment to improve the overall energy efficiency of the system in the formation generation process.By using the bipartite graph theory,the assignment problem between robots and points is transformed into the maximum weight matching problem.Based on the auction algorithm,the solving steps of the above weight matching problem are determined,and the disturbance factor is introduced to adjust the solving process,so as to quickly find the optimal assignment scheme between multi-mobile robots and multi-points.Considering the obstacle avoidance problem in the formation generation and formation maneuver processes,study the path planning method of mobile robot based on artificial potential field algorithm?Aiming at the defects of the artificial potential field method,the potential field function is improved,and a trap location strategy based on virtual target point is proposed to improve the success rate of the algorithm.Then,aiming at the trajectory oscillation problem of path planning in complex environment,combined with the potential field environment information,design a step-size modified fuzzy controller based on fuzzy control principle,improve the trajectory oscillation and obtain a safe and effective path.Aiming at the problem of formation keeping in the process of multi-robots cooperative transportation,formulate the formation keeping control strategy of multi-robots system based on iterative learning control.According to the characteristics of cooperative transportation task,the formation keeping problem of multiple robots is reduced to the problem of tracking the desired formation trajectory of a single robot.Based on the principle of iterative learning control,a new iterative learning control law is constructed by introducing the current iterative error information to solve the trajectory tracking problem of a single mobile robot in formation.Combined with the above iterative learning control law,calculate the control input of each robot in the system for the formation motion process,achieve high-precision formation keeping effect.According to the requirement of human-computer interaction in multi-mobile robots system,study the realization scheme of voice control function,and carry out experiments for voice control function and formation keeping control strategy.Using ROS as the underlying platform,with the help of speech processing SDK,design the voice control command analysis software;build the virtual prototype experimental platform of multi-mobile robots by using the three-dimensional physical simulation software,and carry out the virtual prototype experiments and physical experiments to verify the feasibility and effectiveness of voice control function and formation keeping control strategy.