| With the continuous progress and rapid development of mobile robot technology,the application of mobile robot has become more and more extensive.However,in the face of increasingly complex and changeable environment for large-scale search and rescue,cooperative operation,detection and other tasks,a single mobile robot can not meet the requirements.Therefore,the technology of multiple mobile robots has come into people’s vision and gradually become the focus of researchers.In this paper,the problem of path planning and cooperative control of multiple mobile robots in indoor environment is studied to achieve efficient and orderly movement of multiple mobile robots and complete specific tasks.The main contents are as follows:First of all,the research status of path planning and cooperative control of multiple mobile robots at home and abroad is summarized,the algorithm realization of various methods is summarized from two aspects of global path planning and local path planning,the cooperative control methods of multiple mobile robots are detailed,the advantages and disadvantages of existing path planning methods are analyzed and summarized,and the path planning algorithm and cooperative control method to be adopted in the project is determined.Design and build a multi-mobile robot system for indoor scenes,determine the selection of mobile robot’s sensing,control,communication and other hardware systems,and software system architecture.Secondly,the path planning problem for a single mobile robot is analyzed and studied.Aiming at the shortcomings of traditional A * algorithm planning,such as long path calculation time,many search nodes and many turning points,an improved A * algorithm based on weight coefficient optimization is proposed,which can effectively reduce the number of search nodes and turning points by improving the cost function selection;The weight coefficients of the actual cost function and the estimated cost function are optimized to improve the defect of long path calculation time,and the Bessel curve is introduced to smooth the planned path.Then,the cooperative control problem of multiple mobile robots is studied.The problems that need to be solved in the cooperative control of multiple mobile robots are analyzed from the theoretical point of view.The mathematical models of the two formation methods of l-φ pilot-following method and l-l pilot-following method are established respectively,and the hybrid formation strategy based on l-φ and l-l pilot-following method is proposed.The simulation analysis is carried out using MATLAB software to verify the designed hybrid formation algorithm in formation maintenance The feasibility and effectiveness of formation switching.Finally,the application scenarios of multiple mobile robots are built to carry out simulation experiments and prototype experiments.For the practical application of hospital ward logistics,mobile disinfection and sterilization,etc.,a simulation scene was built in the ROS environment,and multiple mobile robots path planning and collaborative control simulation experiments were carried out to verify the effectiveness and feasibility of improved A~* algorithm and pilot follower algorithm;According to the simulation environment,a 1:1 scene is built in the laboratory,and the simulation algorithm is transplanted to the physical prototype.The prototype experiment is carried out.The research shows that the pilot-following method has a good effect on realizing the cooperative control of multiple mobile robots. |
