Formation Strategy of Hybrid Obstacle Avoidance Algorithm for Multiple Mobile Robots

doi:10.16182/j.issn1004731x.joss.22-1249

Abstract

Abstract:

For the obstacle avoidance problem of multiple mobile robots in the unknown static obstacle environment, this paper proposed a formation strategy of a hybrid obstacle avoidance algorithm for multiple mobile robots, ensuring that multiple mobile robots do not collide during operation, can maintain the formation to the maximum extent in the unknown static obstacle environment for effective obstacle avoidance, and can reach the designated target point in a short time. Based on the leader-follower method and artificial potential field (APF) method, the formation strategy divided the robots in the system into the leader robot and the follower robot. According to the differences in their roles and tasks, the APF method with different improved methods was adopted to avoid obstacles, forming a hybrid obstacle avoidance algorithm. The leader APF (LAPF) obstacle avoidance algorithm was proposed for the leader robot, which improved the repulsive force function of the traditional APF method, solved the problem that the traditional APF method is easy to fall into the local extrema dilemma, and effectively reduced the time for obstacle avoidance. In order to ensure that the formation can be restored, and the stability of the system can be maintained during system operation and after obstacle avoidance, the formation strategy used the consistency model to control the speed of the robot so that the states of the leader robot and the follower robot tend to be consistent, and then the formation can be maintained. Simulation results verify the effectiveness of the LAPF algorithm and the formation strategy of a hybrid obstacle avoidance algorithm for multiple mobile robots.

Key words: multiple mobile robots, consistent formation, leader-follower method, artificial potential field(APF), obstacle avoidance

CLC Number:

TP242

Liu Fulin, Li Qingxin. Formation Strategy of Hybrid Obstacle Avoidance Algorithm for Multiple Mobile Robots[J]. Journal of System Simulation, 2024, 36(3): 726-734.

Figures/Tables 12

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障碍物数量	成功率/%			平均运行时间/s
障碍物数量	法1	法2	法3	法1	法2	法3
0	100	100	100	0.062	0.062	0.062
5	85	82	88	0.063	0.089	0.084
9	80	83.5	95	0.063	0.086	0.082

组合算法	运行时间
一	97.81
二	116.83

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