Research On Multi-robot Formation Control Based On Distance And Angle

Multi-robot formation control is a typical and universal multi-robot cooperative control problem,which is one of the hot issues in multi-robot cooperative control.At present,in most formation control algorithms,it is often necessary to obtain the relevant information of multiple robots in the global coordinate system.For some practical scenes,such as battlefield and space,sometimes the global information of robots cannot be obtained.Aiming at the above problems,this paper intends to study the multi-robot formation control problem based on local coordinate system.The main contents are as follows:1)For multi-nonholonomic mobile robot systems,a formation control algorithm based on distance is proposed,and the conditions of formation realization in local coordinate system are given.Firstly,a distributed velocity estimator is designed for the follower under the leaderfollower framework,and the condition that the follower velocity converges to the leader velocity in finite time is obtained when the multi-robot communication topology contains spanning trees.Secondly,by controlling the distance between the robot and the target,the error of the distance between the robot and the target can be converged,so that the formation movement can be controlled to the desired shape.In addition,in order to make the formation not deformable,a formation control algorithm based on rigidity graph is proposed,which enables the robots to form the desired formation shape in finite time.Simulation results show that the proposed algorithm is effective.2)A formation control algorithm based on angle rigidity is proposed for first-order multirobot systems,and the conditions of formation realization in local coordinate system are given.Firstly,a formation and maintenance strategy based on the angles of the robots measured in the local coordinate system is proposed.The strategy firstly controls the movement of the initial formation composed of three robots to the target formation,and then uses a node amplification method to further control the movement of multiple robots to form the desired shape.Secondly,by introducing two potential functions to constrain the distance between robots,the number of individuals in formation and formation of formation can be expanded under the premise of avoiding robot collision,and the formation rigidity and communication ability can be maintained.Simulation results show that the algorithm is effective.