Research on multi-robot formation obstacle avoidance algorithm
Gang Wu, Wanqiang Wu, Weixuan Cui, Yunjia Yang, Shangrong Wu · International Symposium on Robotics, Artificial Intelligence, and Information Engineering (RAIIE 2022) · 2022
In the field of robotics, mobile robots have always been a hot topic of research. Aiming at the problem of mobile robot formation, multi-robot collaborative control technology is adopted, and the leader-follower algorithm is realized through the design of the leader and follower roles, and the multiple robot formation control is realized, and the dynamic window algorithm is integrated to achieve the formation to avoid obstacles. First, the leader-follower algorithm is introduced and theoretically derived. Secondly, the dynamic window algorithm added in the formation collaborative control process is introduced and theoretically derived. Finally, through the simulation of cooperative control of formations, the dynamic window algorithm and the artificial potential field algorithm were used for simulation and comparison of the formation travel process and the path trajectory traveled by the final formation, respectively.