基于距离-角度多移动机器人编队避障策略

针对多移动机器人编队避障的效率低、稳定性差等问题,提出一种距离-角度优先级避障策略.根据机器人数量建立合理队形数据库;充分考虑机器人的自身安全距离和通信范围的约束进行队形和避障方式的选择;然后采用领航者-跟随者的编队控制方法,建立领航-跟随者运动模型并对其相对位姿进行运动学分析,使机器人完成稳定编队的同时安全高效地通过...

Obstacle Avoidance Strategy of Multi-mobile Robot Formation Based on Distance-Angle

Aiming at the low efficiency and poor stability of obstacle avoidance of multiple mobile robot formation,a distance-angle priority obstacle avoidance strategy was proposed.A reasonable formation database was founded based on the number of robots.Considering the limitations of the robot’s safety distance and communication rang,formation and obstacle avoidance methods were selected.The leader-follower formation control method was adopted to establish the leader-follower kinematic model and perform kinematic analysis about relative position.Then the robots could complete the stable formation while safely and efficiently passing obstacles and recovering the formation quickly.The simulation results show that compared with the existing obstacle avoidance methods,the proposed control method can be used to improve the obstacle avoidance efficiency,formation stability and control accuracy.