Formation And Path Planning Of Multiple Unmanned Vehicles

With the rapid development of unmanned vehicle technology and the improvement of people’s living standards,the application of unmanned vehicle is more and more widely.However,when single unmanned vehicle is facing the complex and changeable environment for rescue,encirclement,cooperative transportation,regional search and other tasks,it will be a bit stretched.Therefore,the cooperation of multiple unmanned vehicles has come into people’s vision and gradually become a research hotspot of scholars.Formation and path planning are the two key problems of multi UAV cooperative work.How to make the formation of UAV quickly and flexibly change the formation when needed,and how to efficiently plan the path to avoid obstacles are the key factors to complete the task.This paper studies the formation and path planning of multiple unmanned vehicles in complex search and rescue environment.Firstly,this paper introduces the research background and significance of this topic and several common unmanned vehicle models,and establishes the individual kinematics model of unmanned vehicle,and compares and analyzes the advantages and disadvantages of several formation and path planning methods.Secondly,the unmanned vehicle formation system is designed.In this paper,the formation method of omni-directional wheeled unmanned vehicle combined with navigation following method is selected,the formation strategy of unmanned vehicle applied in this paper is designed,and the formation model of navigation following method is established.On the basis of the above,the paper designs two kinds of navigation following formation methods: range range and range angle,and makes simulation analysis by using MATLAB simulation software,which verifies the feasibility and effectiveness of the navigation following formation method.Then,the path planning function of the whole formation system is designed and optimized.Combined with the formation strategy selection path planning method,the formation path planning framework based on DWA algorithm is built.Aiming at the problem that the traditional DWA algorithm can not quickly return to the ideal formation trajectory after the completion of obstacle avoidance,the optimization is carried out,so that the formation can better carry out search and rescue tasks in complex scenes.The improved dynamic window local path planning is introduced into the unmanned vehicle formation system as the secondary control.When the formation system encounters obstacles,the whole system switches to the obstacle avoidance mode,and when the obstacle avoidance is completed,it returns to the formation model,so as to realize the hierarchical and reasonable control of the whole formation system,so that the formation system can achieve formation and path planning well with or without obstacles.The simulation analysis of the above algorithm and the improved algorithm verifies the feasibility of the improved algorithm in the formation system and the effectiveness of obstacle avoidance.Finally,the system formation and path planning are verified by experiments.Combined with the formation strategy and path planning method,ROS is used as the simulation software platform and robomaster AI as the hardware platform.Aiming at the complex environment that may be encountered in the search and rescue tasks such as barrier free and obstacle free,the formation formation formation,formation maintenance,formation transformation,formation obstacle avoidance simulation experiments and real vehicle experiments are carried out to verify the effectiveness and practicability of the formation and path planning algorithm.It has laid a solid foundation for the future unmanned vehicles to carry out formation tasks in complex search and rescue scenes.