一种基于跟随领航法的多机器人的编队及避障控制方法

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。

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

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.