Research On Formation Motion Of Mobile Robots

The mobile robot formation needs to maintain a certain formation and avoid obstacles reasonably in the process of task execution.This requires the formation to have stable formation generation and maintenance ability,also to have the function of timely switching of formation to complete obstacle avoidance.Therefore,this paper takes the leader-follower robot formation as the research object,and studies the formation switching obstacle avoidance while improving the stability of formation motion.Firstly,the formation control structure based on the leader-follower method is determined.According to the needs of positioning perception,the kinematic and sensor model for the mobile robot is constructed.The data obtained from the odometry and inertial measurement units are fused using the extended Kalman filter method and used in adaptive Monte Carlo localization to improve the pose accuracy of the robot and to complete the localization.The improved ant colony algorithm is used to search for the most reasonable path for the pilot robot in the formation to complete the path planning task.Secondly,the formation system model is established based on the robot kinematics model,and the formation generation and maintenance are transformed into the trajectory tracking control of the mobile robot.According to the sliding mode variable structure control principle,the sliding surface is designed and the reaching rate is improved.The sliding mode motion tracking controller suitable for formation generation and maintenance is established to complete the formation generation and maintenance.Thirdly,according to the overall obstacle avoidance requirements and the initial formation setting,the evaluation index of formation switching is formulated,and three different switching strategies are proposed.Using the designed cost evaluation function and the established formation library,the parameter matrix of the optimal formation for different task situations is calculated to realize the formation avoidance.In the case of different numbers of robots and initial formations,the effectiveness of the switching obstacle avoidance method is verified by Matlab.Finally,to verify the operation of the formation in the actual obstacles,the physical platform of the mobile robot formation is built and the motion obstacle avoidance experiment of the formation is completed.The results show that the formation switching obstacle avoidance method in this paper improves the stability of formation motion and realizes the target task of obstacle avoidance in different obstacle environments.