Research On Formation Path Planning Of Multiple Mobile Robots

With the rapid progress of national science and technology,mobile robots have been popularized and applied in many fields.However,because the limitations of single mobile robot in payload capacity and movement duration,multiple mobile robots are required to cooperate to complete complex tasks.This essay takes multiple mobile robots as the research object to study the formation path planning problem of multiple mobile robots and the collision avoidance problem among multiple mobile robots in detail.Under the premise of ensuring the safe movement of multi mobile robot formation,the defects of multi mobile robot formation path planning are solved and the efficiency of formation path planning is improved.The main research contents of this essay include the following three aspects:(1)Aiming at the problem that formation path planning is easy to fall into local space by using artificial potential field algorithm(APF),an improved strategy of artificial potential field algorithm is proposed.Firstly,the movement space of mobile robots is established and the objective function of path planning is designed.Then,the performance that is formation path planning of classical algorithms is theoretically analyzed and experimentally verified.Finally,the decomposition factor is added to the original repulsion potential field function of the artificial potential field algorithm to achieve the purpose of repulsion decomposition.The improved artificial potential field algorithm breaks the balance between attractive force and repulsive force when the mobile robots are trapped in local space,and helps the mobile robots escape from the constraint of local space.(2)Aiming at the problems of low execution efficiency,long movement time and long movement path of multi mobile robot formation path planning,a hybrid formation path planning based on A* and multi-target improved artificial potential field algorithm(A*-MTIAPF)is proposed.Firstly,the graph theory algorithm is used to organize and control the formation of four mobile robots.Then,a hybrid algorithm of A * algorithm and improved artificial potential field algorithm is used for formation path planning.Finally,the effectiveness of A*-MTIAPF algorithm is verified by experiments,and the algorithm is compared with APF,TVAPF and RRT-APF algorithms to prove the optimality according to the three indicators of iteration number,movement time and movement path.(3)Aiming at the collision problem among mobile robots when the formation of multiple mobile robots is temporarily disbanded after encountering obstacles,a collision avoidance control algorithm among multiple mobile robots based on double priority judgment(DPJC)is proposed.Firstly,the algorithm sets the distance priority according to the distance between each mobile robot and the target point,and sets the initialization priority when initializing the formation information according to the actual needs.Then,when the formation is temporarily disbanded,the unique movement order of each mobile robot is determined by two priority judgments.Finally,the effectiveness and robustness of the algorithm in different environments are verified by experiments according to the two indicators of coordinate position and relative distance.