Formation Transformation Algorithm Of Swarm Robots For Minimizing The Farthest Moving Distance

As one of the basic problems of swarm robot system research,formation control has great theoretical value and wide application prospects.Formation control includes formation,formation maintenance and formation transformation.Formation transformation refers to the transformation from an initial formation to a new formation.The main research is how to select the target point of the robot and how to avoid the collision of the robot in the transformation process.The formation transformation has potential application prospects in the execution of different formation tasks and formation obstacle avoidance.Aiming at the formation transformation problem,this paper first proposes a target selection algorithm that can minimize the farthest moving distance.In this algorithm,robots are grouped according to the number of robots to ensure that there are no more than 20 robots in each group.A group of robots corresponds to a group of target nodes,and each group of robots can only move to the corresponding group of target nodes,so as to reduce the calculation of the system.Then driven by the artificial torque motion controller,the robots move towards their target points.In the process of robot motion,the individual robot can exchange target nodes with other robots in the communication range,thus reducing the total motion path of the group robot system and optimizing the motion path.Finally,all robots reach the target point to form a new formation.In order to verify the effectiveness of the algorithm proposed in this paper,several sets of MATLAB simulations are also carried out.The simulation results show that the proposed method can make the formation of swarm robots transform to another new formation more smoothly and stably,and there will be no collision between robots.