Research Of Robot Path Planning And Formation Control Based On Hybrid Algorithm

With the rapid development of computer control and automation technology, the mobile robot technology gradually matures. Research of the mobile robot path planning and formation control is the hotspot and trend of current robot technology. It is the basis of multi-robot navigation and collaboration and has been widely used in military aid, nuclear industry, aerospace, marine survey and many other high-tech fields.Based on the current study, the further research for mobile robot path planning and formation control is done in this paper. Firstly, considering advantages and disadvantages of mobile robot path planning methods, a method of hybrid artificial potential field-ant colony algorithm is proposed in this article. The basic principle is the introduction of artificial potential field force in the transfer probability function of ant colony algorithm. The ant colony is influenced by pheromone concentration and potential field force when selecting path, so as to develop the advantages of two algorithms effectively. The updating method of pheromone concentration is consists of path length and path smooth indicators. The quality of the path is improved effectively and it is more practical.Secondly, on MATLAB simulation platform, the experiment for the mobile robot path planning and obstacle avoidance with the classical ant colony algorithm and hybrid artificial potential field-ant colony algorithm is done. The simulation results show that the hybrid algorithm is superior to the classical ant colony algorithm, especially in the environment with complex obstacles, the optimization ability is stronger, the convergence rate is faster and the path is of higher quality.Thirdly, many methods of multi-robot formation control and the advantages and disadvantages of each method are introduced: the leader-follower mode, the behaviors-based algorithm, the virtual structure mode and the artificial potential field algorithm. Then a kind of strategy based on swarm intelligence optimization algorithm for the multi-robot formation control is proposed in this paper. Different ant colony represents different robot. The robot finds the path with hybrid artificial potential field-ant colony algorithm. The pheromone update strategy consists of path optimization function and formation error penalty function. Then the final optimal path of formation is generated after iteration and optimization of the algorithm.Finally, on MATLAB simulation platform, the experiment for multi-robot formation control and path planning simulation with hybrid algorithm is done. The simulation shows the formation state of triangle, square and diamond. The results show that this method can avoid obstacles and keep formation effectively. The algorithm optimization effect is great and the convergence rate is fast. The path is of good quality. It can be used for the multi-robot formation control.