Research On Formation Obstacle Avoidance Of Multi-mobile Robots Based On ROS

With the application of mobile robot technology in many aspects,the limitations of single mobile robot are gradually exposed.The multi-mobile robot collaborative system has attracted many scholars' attention due to its advantages such as high efficiency and strong robustness.It can be used in military,industrial,and civilian fields.The difficulty of my research is how to format and maintain multi-robot formation and how to avoid obstacles in complex dynamic obstacle environment.Therefore,this paper focuses on multi-robot formation and obstacle avoidance.Firstly,based on the Pilot-follow algorithm and combined with the kinematics characteristics of the differential wheeled mobile robot,we develop a alternative pilot-follow formation model that the followers can adjust its speed for self-adaptation.This model is verified by 3D simulation the platform GAZEBO.The experimental results show that the follower in the formation The user can adjust the following speed adaptively to achieve a better formation effect.Secondly,we propose a path planning that integrates global planning and real-time local obstacle avoidance.This method integrates the advantages of the heuristic A* algorithm and the dynamic window approach(DWA).By extending the evaluation function of DWA to constrain the local path and the global path in real time,the autonomous navigation of the mobile robot is realized,and the MATLAB platform is used.Simulation verification of the proposed fusion method.The experimental results show that,The optimized algorithm can complete the autonomous navigation function of the robot well.Thirdly,we propose an adaptive formation obstacle avoidance combining formation and navigation by studying the pilot-following formation system,and we establish two methods of isomorphic overall obstacle avoidance and heterogeneous independent obstacle avoidance.The proposed method is verified by 3D simulation platform GAZEBO.The experimental results show that the method combining formation and navigation designed in this paper can well complete the obstacle avoidance function of multi-robot formation.Finally,we design a differential wheeled mobile robot experimental platform based on ROS.After debugging,the robot can complete the formation obstacle avoidance task according to the expected setting,which verifies the feasibility and practicability of the proposed algorithm.The paper studies the formation obstacle avoidance problem of the multi-robot system,uses the MATLAB and GAZEBO platforms to verify the feasibility and effectiveness of the fusion algorithm and formation obstacle avoidance method,and finally carries out experimental verification through the self-designed physical platform.The results show that the optimized adaptive formation obstacle avoidance scheme in this paper has high feasibility and stability.The program is widely applied in formation patrols,coordinated capture,search and rescue,and coordinated operations.