Multi-robot Formation Control Based on Improved Virtual Spring Model

doi:10.16182/j.issn1004731x.joss.22-0197

Abstract

Abstract:

Aiming at multi-robot system being difficult to avoid obstacles and maintain formation in unknown environment, a cooperative formation obstacle avoidance control algorithm based on the improved virtual spring model is proposed. The virtual spring model is introduced on the basis of leader-follower formation approach, which solves the problems of easy touch and out of formation. The attractive elastic force formula between the robot and the target point is established, and the virtual spring model of the obstacle with adjustable damping is designed to complete the obstacle avoidance behavior of robot. Aiming at some complex concave obstacles, the concept of additional rotational force field is introduced to reduce the blindness of decision-making, and solve the problems of unreachable target points and local minima in formation process. The simulation results and physical experiments verify the effectiveness of the proposed algorithm.

Key words: multi-robot, formation control, collision avoidance, virtual spring, additional rotational force field

CLC Number:

TP391.9

Yimei Chen, Xiaofan Shi, Baoquan Li. Multi-robot Formation Control Based on Improved Virtual Spring Model[J]. Journal of System Simulation, 2023, 35(6): 1235-1244.

Figures/Tables 15

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