Fuzzy formation and obstacle avoidance control method for multi-mobile-robot system

Abstract

The invention discloses a fuzzy formation and obstacle avoidance control method for a multi-mobile-robot system. Firstly, a pilot robot detects whether an obstacle exist in a forward direction region of operation or not; if not, the operation is continued according to an original formation pattern; if yes, the multi-mobile-robot system enters an obstacle avoidance state, and then all following robots are informed through broadcasting; finally, the following robots switch the formation pattern according to kinds of stored formation information and the information broadcast by the pilot robot, and the positions in the formation pattern are determined; the steps are repeated. According to the fuzzy formation and obstacle avoidance control method, the multiple mobile robots perform formation under the unknown environment, and the robots can effectively avoid the obstacle for the operation. The pilot robot detects the obstacle information and broadcasts the switching information of the formation pattern to the following robots, the purpose of avoiding the obstacle is achieved through switching of the formation pattern, and by the utilization of the fuzzy formation control method, the problems of inaccurate control brought by modeling errors and the like are avoided, and the fuzzy formation and obstacle avoidance control method is easy to achieve.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a fuzzy formation and obstacle avoidance control method for multi-mobile robot systems. Background technique [0002] Robot obstacle avoidance refers to avoiding surrounding obstacles during robot navigation. With the in-depth development and wide application of robot technology, higher requirements are put forward for the intelligence of robots. Currently, mobile robots are being used more and more widely in practical problems. Through the cooperation among multiple mobile robots, the efficiency of the robot system in the operation process can be improved, and then when the working environment changes or the robot system fails locally, the multi-mobile robot system can still complete the scheduled tasks through its own cooperative relationship. . However, there is no good solution to the uncertain and complex environment, the inability to install various monitoring equipment, or ...

AI Technical Summary

Problems solved by technology

However, there is no good solution for the uncertain and complex environment, the inability to install various monitoring equipment, or the change of the network topology caused by the local failure of the robot, so that the service objects or working environment of the multi-mobile robot system are limited.

First of all, most of the research on multi-robot systems in the past focused on the scene where the environmental conditions are known and various monitoring instruments can be installed. The robot itself does not have too many monitoring equipment such as sensors and cameras, so it cannot autonomously perceive changes in the external environment; Secondly, the communication networking system in the past can better realize the communication between multiple robots, but when the robot in the system stops running or cannot work normally due to a fault, its network topology should be changed but cannot be changed independently. Will affect the cooperation between multiple robots

In the real-time control process of dynamic obstacle avoidance, there is often a local optimal solution, so it is easy to produce deadlock phenomenon, which may make the mobile robot stay at the local optimal point before reaching the target point.

Or the acceleration of obstacle movement cannot be accurately predicted, which is not convenient for path planning of obstacle avoidance

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