Research On Obstacle Avoidance Algorithm Of Wheeled Mobile Robot Formation

Multi mobile robots are widely used in military operations and daily life,such as personnel search and rescue,cooperative handling,UAV performance,epidemic prevention and control and agricultural work.With the complexity of mobile robot application scenarios and the continuous expansion of application scope,higher requirements are put forward for the working performance of mobile robots.In the practical application scenario,multiple mobile robots will be affected by obstacles in the environment when performing various tasks,which makes the formation inefficient and poor system stability when avoiding obstacles.To solve the above problems,this paper studies the formation obstacle avoidance method in the indoor two-dimensional plane environment combined with the widely used wheeled mobile robot.(1)In order to improve the obstacle avoidance efficiency and system stability of the formation.A distance angle priority obstacle avoidance strategy is proposed,which mainly selects the formation and obstacle avoidance mode according to the robot’s own safety distance and communication range.The formation is controlled by the navigator method,and the obstacle avoidance method is to adjust the distance and angle between the navigator and the follower to change the formation structure to avoid obstacles;Through the establishment of the pilot follower motion model and the kinematic analysis of its relative position and posture,the robot can complete the stable formation,improve the timeliness of the robot passing through obstacles,and quickly restore the formation.The simulation results show that,compared with the traditional obstacle avoidance control method,the proposed obstacle avoidance strategy improves the obstacle avoidance efficiency,formation stability and control accuracy.In the same simulation environment,the obstacle avoidance path is reduced by14.29%,the formation recovery time is shortened by 28.57%,and the formation structure distortion is reduced by 12.5%.(2)In order to improve the adaptive ability of formation in practical application scenarios.According to the requirements of wheeled mobile robot to avoid obstacles and successfully complete complex tasks in dynamic obstacle environment,a wheeled mobile robot formation obstacle avoidance control algorithm based on model predictive control(MPC)theory is proposed,and the wheeled mobile robot motion dynamics model is established.On this basis,a MPC controller based on nonlinear predictive control is further designed.Its principle is to transform collision constraints into state constraints and map them to the designed controller,so that robot formation can successfully complete complex tasks in the environment of multiple dynamic obstacles.Simulation results verify the effectiveness of the model predictive obstacle avoidance control algorithm.(3)In order to verify the feasibility of the obstacle avoidance strategy proposed in this paper.Based on robot operating system(ROS),an experimental scheme based on 3D simulation platform is designed.Firstly,a wheeled differential mobile robot model is created by using URDF file;Secondly,the simulation environment is built through gazebo,and the robot model is equipped with sensors to obtain the simulation environment data;Finally,the proposed formation obstacle avoidance strategy is verified by the experimental simulation platform.