The Research On Multi-robot Formation And Path Planning In Dynamic Environment

With the development of robotics technology,the application of robotics has been extended more and more widely.The robot is not only required to complete some simple tasks,but also to achieve complex tasks with complex and dynamic environment.For many complex tasks,it is hard or impossible for single robot to accomplish by itself.Therefore the system composed of multi-robot is considered.The tasks are performed through coordination and cooperation among multi-robot.The multi-robot path planning is always a typical problem in the process of formation.This paper studies the path planning of multi-robot system formation in dynamic environment.First of all,the research background and significance of this paper are introduced.The research status and future development of multi-robot formation and path planning are discussed and summarized.Secondly,comparing the advantages and disadvantages of the methods of path planning of multi-robot formation,the artificial potential field method as the basic method was chosen to study the path planning of multi-robot formation in dynamic environment.Because the traditional artificial potential field method has local minimum value problem,the robot can not reach the target position.By introducing the position between the robot and the target point solved the problem of the local minimum value.The introduction of relative position makes the robot force become zero at the target point and the robot will not fall into the local minimum.In the light of path planning research of multi-robot formation in the dynamic environment,establishing the robot model and its robot force model.The paper gives the environment modeling for dynamic environment,analyzes and summarizes the common model of dynamic environment.It mainly introduces random obstacles to obey probability distribution model.Finally,on the Matlab simulation platform and the Microsoft Robotics Developer Studio(MRDS)robot simulation platform,the multi-robot formation path planning experiment is completed.The results show that the improved artificial potential field method can make the robot reach the target position without collision.Also the improved artificial potential field method solves the local minimum problem.The algorithm is proved to be effective and feasible.