多移动机器人编队算法研究与实验验证

Study and Verification on Formation Algorithm of Autonomous Mobile Multi-robots

本文对目前常用的几种多机器人编队算法进行了分析和研究,设计并提出一种将领航跟随法、人工势场法和基于行为法等常用多机器人编队算法优点相融合的新算法。搭建了用来进行新算法的实物仿真验证的群体智能移动机器人系统,实现了群体机器人搜索目标、驶向目标、动态跟踪和实时避碰等一系列功能,验证了新算法的有效性。

This paper analyzes and studies on several commonly used algorithms of multi-robots formation, designs and makes a new algorithm which combines the advantages of several commonly used multi-robots formation algorithms including a leader-follower approach, an artificial potential field approach and a behavior-based approach. Autonomous mobile multi-robots system, which is made by ourselves, are used for the physical simulation of the new algorithm. Not only achieved are a series of functions of the multi-robots including searching the target, running towards the target, dynamic tracking, real-time collision avoidance, but the effectiveness of the new algorithm is also verified.