Research On Multi-mobile Robot Formation And Obstacle Avoidance Control Metho

With the development of artificial intelligence,the application of mobile robots become more and more widely.Multiple robots have stronger execution capabilities than a single robot when facing high-complexity tasks.Usually the formation control and transformation of multi-robots will affect whether the task can be completed.This paper takes four-wheel differential mobile robot as the research object,and focuses on the formation control and obstacle avoidance control of multi-robots.The achievements will provide important support for the application of multi-robotic system in the fields of logistics and transportation.The main research contents of this article include:(1)A mobile robot testing platform is built,and the speed control model is obtained by kinematic analysis of the four-wheel differential motion model,and the PID controller is used to achieve precise control of the robot speed.A model for trajectory deduction is established,and a relative positioning relation based on odometer and IMU is deduced to lay the foundation for subsequent trajectory tracking.(2)Aiming at the obstacle avoidance problem of multi-robots,this paper provides the basis for formation transformation based on the particle model obstacle avoidance.The strategy of "walking along the edge" is proposed to solve the problems that the trap is too deep and the virtual target point fails to jump out of the local minimum when the artificial potential field method is used to plan the path.To solve the problem of the too long path length and poor smoothness brought by this strategy,the segmented simulated annealing algorithm is used to further smooth the path and realize the optimal path planning.(3)Based on the path planning of the particle model,the appropriate obstacle avoidance method is determined according to the distribution of obstacles,and a swarming control algorithm is proposed to realize the path planning and obstacle avoidance of multi-robots.In addition,a formation matching algorithm is proposed according to the relative position of the robot and the desired formation at the initial moment,thus realizing a more stable control of the robot.(4)A multi-robot formation control experiment is carried out.The precise positioning of the robot is achieved by coordinate transformation and Kalman filter algorithm combining with relative positioning of the odometer,and IMU and the absolute positioning of GPS.The experiment is based on a preset environment map,and filtering method is utilized to relize the division of feasible regions and obstacles.The test of trajectory tracking was also done.The experimental results showed that the algorithm proposed in this paper can complete multi-robot formation and obstacle avoidance control.