一种基于跟随领航法的多机器人的编队及避障控制方法

Formation and Obstacle Avoidance Control Method for Multi-Robots Based on Following and Piloting Method

主要针对未知环境下多移动机器人的编队及避障问题,设计了基于跟随领航的编队及避障控制算法,使多机器人能保持一定的编队队形且无碰撞,并能使机器人在未知的局部障碍环境下也能够安全躲避障碍物,在通过障碍物之后依然能恢复之前的编队队形。对多机器人系统设计并进行仿真实验,实验结果表明,该方法对于实现多移动机器人的编队和避障控制具有良好的效果。

Aims at the formation and obstacle avoidance problems of multi-robots in unknown environments,and designs a formation and obstacle avoidance control algorithm based on following the pilot,so that the multi-robots can maintain a certain formation without collision,and can make the local obstacle of robot in unknown environment also can safely avoid obstacles,after over obstacles still can resume before the formation of formation.A multi-robots system is designed and simulated,and the experimental results show that the proposed method has good effect on the formation and obstacle avoidance control of multi-robots.