基于吸附行为的多机器人编队避障算法

Obstacle avoidance algorithm of multi-robot formation based on adsorption behavior

针对未知环境下多机器人编队避障问题,本文研究了一种基于吸附行为的多机器人编队避障控制算法。建立基于距离-角度的领航跟随编队模型,利用反馈控制率设计多机器人编队方案,在领航者附近设置若干吸附区,解决领航跟随算法编队队形发散问题;提出结合人工势场法和基于“虚拟引导车”的沿墙行为的未知环境下多机器人编队避障算法,解决局部极小值和目标不可达问题;运用仿真实验和搭建实物平台进行实验验证,结果表明该方法可以实现多机器人编队队形稳定和避障控制。

Aiming at the obstacle avoidance problem of multi-robot formation in an unknown environment,this paper presents a multi-robot formation obstacle avoidance control algorithm based on adsorption behavior.First,a distance-angle-based pilot-following formation model is established,using feedback control rate to design a multi-robot formation scheme,and setting up a number of adsorption areas near the pilot robot to solve the formation divergence problem of the pilot-following algorithm.Then,the obstacle aoidance algorithm for multi-robot formation is put forward,avoiding to get stuck in local minima and target unreachable situations.It combines the artificial potential field method and the behavior of“virtual guided vehicle”along the wall to avoid obstacles in an unknown environment.The simulation and real platform are used for experimental verification,and the results show that the method can achieve the formation stability and obstacle avoidance control of multi-robot formation.