多移动机器人保持队形路径规划

Path planning of robot team in formation

将多移动机器人的运动控制和路径规划有机结合,提出了多移动机器人的队形模型和保持队形的定义.在此基础上,以基于行为的导航算法为基础,将机器人队列的运动过程划分为正常运动、避障和恢复队形3个阶段.在避障阶段,引入虚拟机器人使队形保持部分完整;当队形被严重打乱时,规划机器人的局部目标位姿使队列快速恢复队形.仿真实验表明,该控制方法不仅使多移动机器人安全避障,而且队形保持较完好.

Formation control and path planning of multiple mobile robots are combined in a reasonable way. Formation model and the concept of keeping formation are put forward. This path planning is based on behavior-based navigation algorithm, and the movement course of robot team is divided into normal movement phase, obstacle avoidance phase and formation recovery phase. In order to maintain formation, virtual robot is introduced into obstacle avoidance phase. If formation is destroyed severely, robots search local goal configurations according to path planning algorithm. By this control method, multiple mobile robots can avoid obstacles safely and keep in regular formation.