多机器人编队的人工势场法控制

Formation control of multi robots with artificial potential field method

针对多机器人编队控制中的队形形成问题进行研究。利用控制算法中的人工势场法解决多机器人队形形成问题,结构简单、易于计算,方便对多机器人实时控制。首先,针对多机器人的队形位置用目标点搜索算法,寻找到正确的队形位置点,防止多机器人在空间内绕路,减少编队时间;然后,通过人工势场算法规划各机器人的路径,在机器人行进过程中,利用优先级蔽障方法避免与其他机器人碰撞;最后,对多机器人的队形形成进行仿真,实验证明队形形成的有效性,算法简单易于实现。

The research aims at the formation control problem of multi robot formation. The artificial potential field method is used for the multi robot formation,this algorithm has the advantages of simple structure,easy to calculate,and easy real-time control. Firstly,the target search algorithm is use to find the reasonable target position,avoid the detour in the region,and reduce the formation time. Then,through the artificial potential field algorithm,the robot path is planned,the priority obstacle avoidance method is used to solve the collision with other robots in the forward process. Finally,the simulation is carried out for the multi robots formation.The results demonstrate the effectiveness of the formation,and the algorithm is easy to realize.