Research On Multiple Mobile Robots Coordination Path Planning In Dynamic Environment

Because of its distribution of time, space, capability, information and resource, a multi-robots system is more advantage than a single robot system and becomes an important direction in robot research field, it also plays an important role in the development of robotics technology. However it suffers from more difficult and complex challenges than a single robot system does. How to plan the conflict-free and optimal path and keep formation during motion are the base for the robots to fulfill a cooperative task. So, the path planning and formation problems of a multi-robots system are studied in this article. The main work and results are summarized as follows:Based on theoretical knowledge of fuzzy control and neural network, on the basis of analyzing and summarizing the existing robot path planning methods, fuzzy control theory and neural network are combined, an approach of fuzzy neural network controller for multiple wheeled mobile robots path planning in dynamic environment is proposed. Multiple mobile robots' environmental and kinematics and dynamics model in dynamic environment are built, and the obstacle avoidance principle of multiple mobile robots in dynamic environment is given. At last the method is valid through simulation.An approach of formation control for multiple mobile robots based on leader-following and behavior is presented, the complicated problem of formation of multiple robots is decomposed into some basic problems of coordination between two robots. The basic model of multiple robots is built in this paper, a control strategy of master-slaved to multiple mobile robots formation is proposed, behaviors of multiple robots are designed respectively based on approach of behavior-based, and the control method of velocities of robots is proposed in this paper.The simulation environment for multiple mobile robots formation in dynamic environment is constructed by using the Visual Basic 6.0 software in Windows 2000 system, and the simulation result of computer shows that the approach of multiple mobile robots formation is effective and feasible.