Research And Implementation Of Autonomous Navigation Multi-robot System

In the fields of intelligent security,search and rescue,environmental monitoring,etc.,com-pared with a single robot system,the multi-robot system has stronger fault tolerance,better adaptability and efficient utilization of resources.The multi-robot system is designed for the system architecture,Motion planning and cooperative formation control algorithms all put for-ward new requirements.The multi-robot system adopts a hierarchical structure and coordination system,and pro-poses a path planning algorithm that combines an improved A*algorithm and a TEB(Time Elastic Band)method with robots and environmental constraints,so that a single robot has mo-tion planning capabilities and adopts traffic rules.The method solves the robot conflict problem when multi-robots are moving,and designs a two-wheel differential steering multi-robot for-mation control algorithm for multi-robot cooperative formation.Mainly complete the following work content:(1)Aiming at the multi-robot system system and structure,use a layered structure to solve the problems of over-concentration of traditional structural resources and complex communica-tion;use a two-wheel differential steering mobile platform in the mechanical structure;use a Kobuki+TX2 hybrid structure in the hardware structure Carry out hierarchical design to enhance the scalability of robot hardware while making full use of different levels of computing resources;the ROS robot operating system is adopted in the software structure to facilitate the development and deployment of multi-robot programs.(2)For multi-robot motion planning,the traditional A*path planning algorithm has many inflection points,is not smooth,and lacks dynamic obstacle avoidance,which causes the robot to travel for a long time and is not suitable for multi-robot motion.Introduce the corner value and the starting point value in the traditional A*algorithm evaluation function;analyze the two-wheel differential steering robot and the environment to obtain the path point and obstacle con-straints,speed and acceleration constraints,robot kinematics constraints,and time optimal con-straints,The path generated by the improved A*algorithm is used in the TEB method with the above constraints for real-time dynamic path planning,so that the robot has short driving time,smooth path,dynamic obstacle avoidance ability,and direct output control parameters for robot feedback control;Aiming at the conflict problem of multi-robot system motion planning,the traffic rule method is adopted to make full use of the autonomous decision-making ability of each robot to solve the conflict problem between robots.Finally,the validity of the motion plan-ning algorithm is verified by the Kobuki platform and the MATLAB simulation platform.(3)Aiming at the formation control of the multi-robot system,a multi-robot formation con-trol algorithm based on two-wheel differential steering is designed.Establish the robot kinemat-ics model,analyze the classic triangle formation formation to obtain the chain system and error model,after the canonical transformation,the global tracking control law is deduced according to the Lyapulov function to realize the precise control of the robot formation.Finally,the algo-rithm proposed in this paper is introduced into the MATLAB and Gazebo simulation platform for simulation.The simulation results show that the designed formation algorithm can quickly converge to a stable state,which verifies the effectiveness and practicability of the algorithm.