Collision avoidance formation control method and system for mobile robot having perturbation and communication restricted

Abstract

To provide a collision avoidance formation control method and system for mobile robot having perturbation and communication limited.SOLUTION: A collision avoidance formation control method comprises: structuring a formation system model for multiple mobile robots; estimating total perturbation; setting a reference locus of a starting virtual leader in the formation of the mobile robots; forming a corresponding desired formation based upon a desired distance and a desired angle between set robots; generating a distance error and an angle error in the formation; limiting the generated distance error and angle error to within always corresponding predetermined limits by means of the specified performance control technology,; and structuring a formation system controller for perturbation suppression by dynamic surface control technology according to the distance error, the angle error, and the estimated total perturbation.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention belongs to the technical field of mobile robot control, and specifically relates to a collision avoidance formation control method and system for a mobile robot subject to perturbation and communication restrictions.

Background Art

[0002] The description of this part only provides information on the background art related to the present invention and does not necessarily constitute the prior art.

[0003] Robots (e.g., wheeled robots) are widely applied in fields such as environmental monitoring, target exploration, agricultural machinery, mining, and military. The robot system has advantages such as rapid response, high flexibility, high reliability, and flexible mechanical structure. Multi-robot cooperative formation control can provide efficiency, fault tolerance, and economy that cannot be achieved by a single robot, and can realize efficient cooperative operation for the target. In the cooperative formation, the multi-robot system shares environmental perception and individual state information, and can dynamically adjust the formation shape according to the constraints of the task and the external environment, significantly improving the task completion degree and execution efficiency. To solve the problem of multi-robot formation control, various control strategies including behavior-based control, virtual structure, and leader-follower structure have been adopted. Among them, the leader-follower formation structure has received more attention due to its simplicity and scalability.

[0004] In the formation control of actual multi-mobile robots, as is obvious, it is extremely important to ensure that the entire system always operates stably. In actual situations, since there are various mobile robots, the model parameters have uncertainties, and during actual formation driving, they may be subject to various unknown disturbances. Therefore, the design of a control strategy that can cancel out these total perturbations including disturbances and uncertainties of model parameters and minimize the impact on the system has become particularly important. Currently, research on perturbation suppression of a single mobile robot has progressed relatively far, but the formation control of multi-mobile robots still mostly remains under ideal assumptions, without considering the influence of model uncertainties and disturbances. Therefore, in the present invention, by designing a perturbation estimator, the formation control can have higher robustness by canceling out the total perturbation.

[0005] In formation control, not only is it extremely important to finally form a stable formation, but it is also necessary to consider the distance and angle between each robot during the process of forming the final formation. If the distance or angle is too large, the communication between robots may be interrupted or the resources required for communication may increase. If the distance is too small, the robots may collide, and furthermore, the operating trajectories of the robots may deviate, which may ultimately affect the operation due to physical damage. For this reason, it is extremely important to set upper and lower limits for the distance and angle between robots during the formation control process. However, in the current formation control of mobile robots, this point is hardly considered. The present invention adopts the prescribed performance control technology to ensure that the distance and angle between robots are always within a predetermined allowable range.

[0006] In the design of the control strategy for mobile robots, the backstepping method is currently used in most research. The backstepping method refers to a non-linear control method designed based on Lyapunov stability theory. By designing the virtual control input of the system step by step, the Lyapunov function of the system is gradually reduced for each step, and the derivative of the previous step is used in the design of the control rate for each step to achieve the stability of the system. However, in the case of high-dimensional systems, the problem of differential explosion is likely to occur.

Summary of the Invention

[0007] In order to solve the above problems, the present invention provides a collision avoidance formation control method and system for mobile robots subject to perturbations and communication limitations. In the present invention, by using a leader-follower structure, prescribed performance control technology, and dynamic surface control technology to construct a perturbation estimator, the mobile robot can not only finally complete formation driving even in the presence of perturbations, but also avoid collisions and always maintain communication.

[0008] According to some embodiments, the present invention adopts the following technical solutions.

[0009] Considering the uncertainty of model parameters and continuous bounded perturbations from the outside, constructing a formation system model of multi-mobile robots; Estimating the total perturbation consisting of the uncertainty of model parameters and disturbances; Setting the reference trajectory of the first virtual leader in the formation of the mobile robot, forming the corresponding desired formation based on the set desired distance and desired angle between the robots, and creating the distance error and angle error in the formation based on the desired distance and the actual distance, and the desired angle and the actual angle. By using the specified performance control technology, the created distance error and angle error are always restricted to be within the corresponding specified limits, and based on the Lyapunov stability theory, according to the distance error, angle error and estimated total perturbation, constructing a perturbation suppression formation system controller by using the dynamic surface control technology; performing robot formation control by the formation system controller, including a collision avoidance formation control method for a mobile robot subject to perturbation and communication limitations.

[0010] As an alternative embodiment, the specific process of constructing a multi-mobile robot formation system model includes creating the coordinate positions of each robot in a formation system composed of mobile robots, the relationship between the traveling angle and angular velocity formed by the robot and the x-axis direction, and the relational expressions between each perturbation and the mobile robot.

[0011] As an alternative embodiment, based on the speed state information and control input information of the mobile robot, the total perturbation composed of the uncertainty of the model parameters and the disturbance is estimated.

[0012] As an alternative embodiment, based on the set desired distance and desired angle between robots, the process of forming the corresponding desired formation includes ensuring that each robot i can effectively follow its leader robot through the communication and control strategy between robots, and maintaining the desired distance and desired angle between the leader and the follower; distance ra i (t) and angle θ i (t) representing the distance and angle formed by the leader and the follower.

[0013] As an alternative embodiment, the specific process of restricting the created distance error and angle error by using the specified performance control technology is: setting that the distance formed by the leader and the follower is greater than the minimum safety distance as the collision avoidance condition for each robot; As a communication maintenance condition for each robot, set that the distance formed by the leader and the follower is smaller than the maximum range within which communication can be maintained. As an angle constraint condition, include setting that among each robot, the follower robot can observe its leader at the maximum angle by a stationary vision sensor.

[0014] Furthermore, set upper and lower limits for each of the distance error and the angle error, and convert the formation error into a logarithmic barrier function by a specified performance control method.

[0015] As a selective embodiment, the robot is a wheeled mobile robot, and the formation system controller for disturbance suppression is

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[0016] A model construction module arranged to construct a formation system model of multi-mobile robots considering the uncertainty of model parameters and continuous bounded perturbations from the outside, An estimation module arranged to estimate the total perturbation composed of the uncertainty of model parameters and disturbances, Set the reference trajectory of the first virtual leader within the formation of the mobile robot, form the corresponding desired formation based on the set desired distances and desired angles between the robots, and create distance errors and angle errors in the formation based on the desired distances and actual distances, and the desired angles and actual angles. An error calculation module arranged to do so, By the specified performance control technology, limit the created distance errors and angle errors to always be within the corresponding specified limits, and based on the Lyapunov stability theory, construct a perturbation suppression formation system controller by the dynamic surface control technology according to the distance error, angle error and estimated total perturbation, and a control module arranged to perform robot formation control by the formation system controller. A collision avoidance formation control system for a mobile robot subject to perturbations and communication limitations.

[0017] A computer-readable storage medium used to store computer commands that, when executed by a processor, complete the steps in the above method.

[0018] An electronic device including a memory, a processor, and computer commands stored in the memory and executed on the processor, and when the computer commands are executed by the processor, the steps in the above method are completed.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows.

[0020] In the multi-wheel mobile robot system, the present invention designs a perturbation estimator that can cancel perturbations in the control strategy, in contrast to the prior research that ignores perturbations or has an insufficient cancellation effect of perturbations.

[0021] In most current formation controllers of mobile robots, the distance and angle in the formation process are not considered. In contrast, the present invention uses the specified performance control technology to always maintain the distance and error within the specified range throughout the process, avoid collisions, and maintain communication.

[0022] By using the dynamic surface control technology, the present invention solves the defects of the currently widely used backstepping method and avoids the problem of differential explosion that may occur.

[0023] In order to make the above objects, features, and advantages of the present invention clearer and easier to understand, the following will give preferred embodiments and explain them in detail with reference to the accompanying drawings.

[0024] The drawings in the specification constituting a part of the present invention are for further understanding of the present invention, and the exemplary embodiments and their descriptions of the present invention are for interpreting the present invention and are not intended to limit the present invention inappropriately.

Brief Description of the Drawings

[0025]

Figure 1

Figure 2

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Mode for Carrying Out the Invention

[0026] With reference to the drawings, the leader-follower collision avoidance and communication maintenance formation perturbation suppression control method of the multi-wheel mobile robot system of the present invention will be further described.

[0027] As shown in FIG. 2, when there are uncertainties in model parameters and disturbances in the formation system of the multi-wheel mobile robot, a formation controller is constructed based on the system error and the estimated total perturbation by using the prescribed performance control technology and the dynamic surface control technology, so that each wheeled mobile robot forms a desired formation operation. The method includes the following steps 1 to 5.

[0028] In step 1, considering the influence of the non-linear dynamic system, disturbances, uncertainties in system model parameters, and formation control input signals in the Euler-Lagrange system, the following dynamic model of the formation system of the multi-wheel mobile robot is constructed.

[0029]

Equation

[0030] However, i = 1, 2,..., N represents the i-th robot in the formation system composed of N wheeled mobile robots. p i =[x i , y i , φ i T where x i , y i are the position coordinates of the i-th robot in the formation system in the x and y axis directions in the ground coordinate system, respectively, and φ i is the traveling angle formed by the i-th robot in the formation system and the x-axis direction. The vector

Equation

Equation

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[0031] As shown in Figure 2, G i represents the center of mass of the i-th wheeled mobile robot, C i represents the geometric center of the wheeled mobile robot. The robot includes a pair of drive wheels, and the distance between the drive wheels is 2L i and the radius of each wheel is R i is represented by. Also, the parameter b i is the distance from the geometric center C i to the center of mass G i The system parameters M 1i M 2i L i and R i and the centrifugal and Coriolis coefficient h i as well as the damping coefficients I 1i and I 2i are all assumed to be constants of uncertainty arising from modeling. Here, M ri represents the total mass of the i-th wheeled mobile robot, g is the acceleration due to gravity, z1, z2, z3, z4, z5, z6 and z7 are unknown constants, representing friction and perturbation coefficients. Also, d 1i and dZ 2i constitute part of the disturbance acting on the i-th robot. The linear velocity ν fi and the angular velocity ν of the i-th robot​wi and

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[0032] Therefore, the dynamic model of the wheeled mobile robot can also be expressed by the following relational expression.

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[0033] Due to the existence of limitations in the wheeled mobile robot,

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[0034] In this embodiment, the following two predetermined conditions exist. (1) The acceleration of the wheeled mobile robot

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[0035] In step 2, design a perturbation estimator based on its own velocity state information and control input information.

[0036] Configure the filter as follows.

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[0037]

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[0038] It should be noted that the variable γ i creates the relationship between the filter state

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[0039] In step 3, based on the set desired distance and desired angle between the robots, form the corresponding desired formation. Create the distance error and angle error in the formation based on the desired distance and the actual distance, and the desired angle and the actual angle. This includes the following step S301 and step S302.

[0040] In S301, construct the desired formation of the multi-wheel mobile robot.

[0041] The main objective of this embodiment is to formulate a control strategy for each robot in the multi-wheel mobile robot. Through communication and control strategies between robots, ensure that each robot i can effectively follow its leader robot i - 1, and maintain the desired distance and desired angle between the leader and the follower (i ∈ {1, 2, 3,..., n}). The leader of the first robot is a virtual robot, and the specific trajectory is the reference trajectory p0 = [x0, y0, φ0]. T It is as follows. The relationship between the leader and the follower during formation is shown in the drawing. In the following, the distance ra i (t) and the angle θ i (t) are defined.

Equation

[0042] However, it is as follows.

Equation

[0043] The function θ i (t) is smooth and bounded, and has a clear solution in the continuous interval (-π, π]. From the definition of the formula atan2(y, x), x i-1 (t) - x i (t) = 0 and y i-1 (t) - y iWhen (t) = 0 is satisfied simultaneously, ra i Since (t) becomes 0, it can be seen that atan2(y, x) becomes indeterminate. This means that collision avoidance is essential in such formation control. Also, such a control method is implemented based on communication between robots and has specific requirements regarding the distance between two robots. Therefore, in formation control, not only collision avoidance is ensured, but also the distance required for communication is maintained.

[0044] In S302, create the distance error and angle error in the system.

[0045] In the following definitions, explain the distance error and angle error in formation control.

[0046] e rai (t) = ra i (t) - ra i,de (t) e θi (t) = θ i (t) - θ i,de (t) However, e rai (t) is the distance error, and e θi (t) is the angle error, ra i,de (t) is the desired distance, and θ i,de (t) is the desired angle.

[0047] In step 4, use the prescribed performance control technique to limit the distance error and angle error to always be within the prescribed limits, and use the dynamic surface control technique to design a perturbation suppression formation system controller. This includes the following steps S401, S402, and S403.

[0048] In S401, limit the distance error and angle error.

[0049] The collision avoidance condition for the robot group is ra i (t) > ra i,min (t), where ra i,min (t)(ra i,min(t) > 0) represents the minimum safety distance to prevent collisions. The prerequisite for the robot group to maintain communication is ra i (t) < ra i,max (t), where ra i,max (t) (ra i,max (t) > ra i,min (t) > 0) represents the maximum range within which communication can be maintained. In addition to solving the constraints related to the range, this embodiment also considers the angular constraint, |θ i (t) | < θ i,max (t), where θ i,max (t) > 0 indicates that the follower robot i in the robot group can observe its leader i - 1 by the stationary vision sensor at the maximum angle. To prevent the transient performance from exceeding the predefined performance limit, constraints are imposed on the predefined performance settings of the errors e rai (t) and e θi (t). The constraint conditions that the errors should satisfy are as follows.

[0050]

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[0051]

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[0052] The designed parameters are

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[0053] In S402, convert the distance error and the angle error by the specified performance control technology.

[0054] Based on the principle of the specified performance control theory, the error e Λi (t) during formation is converted into the logarithmic barrier function γ Λi (t).

[0055] [Number] is.

[0056] Since the barrier function γ Λi (t) is associated with the formation error e Λi (t), as the barrier function γ Λi (t) approaches zero, the formation error e Λi (t) also approaches zero. The derivative of γ Λi (t) can be expressed by the following formula. [Number] is.

[0057] Therefore, the derivative of γ rai (t) and γ θi (t) is as follows. [Number]

[0058] In S403, design the controller by the dynamic surface control technology.

[0059] Introduce coordinate transformation. Specifically,

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[0060] The virtual control inputs δ li , δ 2i are as follows.

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[0061] Where Γ rai and Γ θi are both positive numbers.

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[0062] [Number]

[0063] However, the parameter matrix Γ 2i = diag[Γ 21i , Γ 22i , where Γ 2li > 0. [Number] is as follows.

[0064] In step 5, theoretical verification and simulation verification are performed, including the following steps S501 and S502.

[0065] In S501, the theoretical stability of the control method is verified by creating a Lyapunov function using the second method of Lyapunov.

[0066] The Lyapunov candidate function V i is as follows. [Number]

[0067] Its first derivative can be expressed by the following formula. [Number]

[0068] However, it is as follows.

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[0069] J + (φ i ) represents the Moore-Penrose generalized inverse matrix of J(φ i ), and

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[0070]

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[0071] Therefore,

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[0072] As is obvious,

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[0073] Therefore,

Mathematics

Mathematics

[0074] Also, when t approaches infinity, since e Λi (t) approaches 0, it has been theoretically proven that the controller is effective.

[0075] In S502, in this embodiment, the invented control method is verified by computer software MATLAB. In the simulation, each step is as follows in 1. and 2.

[0076] 1. The parameters of the four robots in the formation system of the wheeled mobile robot are selected from Table 1 below.

Table 1

[0077] Matrix parameter

Mathematics

[0078] Part of the disturbance received by the system is as follows. d 11 = 50 + cos(0.01t) + 14sin(0.02t) - 19sin(0.04t) + 6cos(0.3t) d 12 = 18 - sin(0.01t) + 14.5cos(0.02t) + 11sin(0.06t) + 8sin(0.2t) d 21 = 26 + 15cos(0.01t) + 13sin(0.02t) - 5cos(0.3t) d 22 = 12 + 12cos(0.02t) + 12cos(0.06t) d31 = -27 - 15cos(0.01t) - 6cos(0.3t) d 32 = 13 + 25cos(0.02t) d 41 = 33 - 12cos(0.01t) - 3sin(0.04t) d 42 = 19 + 14cos(0.08t) - 2.5cos(0.3t)

[0079] The parameter z1 represents the ground friction coefficient and changes only with the change in the position of the robot. The parameters z2, z3, z4, z5, and z6 represent the coefficients of other frictional forces and disturbances and change only with the change in time. The values of these parameters are as follows.

[0080] -10m ≤ x i < 80m and -20m ≤ y i < 40m, then z1 = 0.02, and 80m ≤ x i ≤ 160m and -20m ≤ y i ≤ 130m, then z1 = 0.05, and -10m ≤ x i < 80m and 40m ≤ y i ≤ 130m, then z1 = 0.08.

[0081] When t < 50s, z2 = 1.2, z3 = 0.7, z4 = 0.5, z5 = 0.8, z6 = 0.4, z7 = 0.3, and When t ≥ 50s, z2 = 1.8, z3 = 1.5, z4 = 1.1, z5 = 1.6, z6 = 0.9, z7 = 0.8.

[0082] In this system, the length of a given robot is 2.5m, and the safety distance ra i,min (t) = 3m is set. To maintain communication, the maximum communication range ra i,max (t) = 5m is set. The desired distance ra i,deis represented by = 4m, and the maximum allowable angle is θ i,max is set to = 1rad, and the desired azimuth angle is θ i,de is set to = 0rad.

[0083] The pre - defined performance function is

Number

[0084] 2. In this simulation, the reference trajectory p0 of the virtual leader in the formation system of the wheel - type mobile robot is as follows.

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[0085] where the time constant t pc is set to 30s, and t2 is defined as 0.02(t - t pc ). When the time t is less than t pc , the reference trajectory is a straight line. When t is greater than t pc , the trajectory forms a circle with a radius of 60m.

[0086] The initial position of the virtual leader robot is p0(0)=[0, 0, 0] T and the initial velocity is ν0(0)=[0, 0] T The initial positions of the four robots are

Number

[0087] The explanation of the result is as follows.

[0088] As shown in FIG. 4, it shows the trajectory of the formation movement in which the wheeled mobile robot follows the leader. Each different type of figure represents one wheeled mobile robot, and the time arrow represents the positions of all four wheeled mobile robots at a specific time.

[0089] As shown in FIGS. 5 and 6, the distance error e rai and the angle error e θi in the formation control are always limited within a predetermined range when there is perturbation. Thereby, the robot can avoid collision and maintain communication, and all errors approach zero, proving the effectiveness of the control method.

[0090] As shown in FIG. 7, here

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[0091] FIG. 8 shows the curves of the control input τ DLi of the left wheel and the control input τ DRi of the left wheel.

[0092] FIGS. 9 and 10 show the state of the estimator

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[0093] Figures 11 to 14 show the total perturbation

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[0094] It is obvious to those skilled in the art that the embodiments of the present invention can be provided as a method, a system or a computer program product. Therefore, the present invention may be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Further, the present invention may also be in the form of a computer program product executed on one or more computer-usable storage media (including but not limited to magnetic disk storage devices, CD-ROMs, optical storage devices, etc.) containing computer-usable program code.

[0095] The present invention is described with reference to the flowcharts and / or block diagrams of the method, apparatus (system), and computer program product according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram can be realized by computer program instructions. These computer program instructions may be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices for manufacturing a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices create means for realizing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0096] These computer program instructions may be stored in a computer-readable memory capable of guiding a computer or other programmable data processing apparatus to operate in a specific manner, whereby the instructions stored in the computer-readable memory create a product including instruction means for realizing the functions specified in one or more flows of a flowchart and / or one or more blocks of a block diagram.

[0097] By loading these computer program instructions into a computer or other programmable data processing apparatus, a series of operational steps may be executed in the computer or other programmable data processing apparatus so as to generate computer-executed processing, whereby the instructions executed in the computer or other programmable device provide steps for realizing the functions specified in one or more flows of a flowchart and / or one or more blocks of a block diagram.

[0098] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art can make various modifications and changes to the present invention. Modifications, equivalent replacements, improvements, etc. made by those skilled in the art without creative efforts without departing from the gist and principle of the present invention are all included within the protection scope of the present invention.

Claims

1. Constructing a formation system model for a multi-mobile robot considering the uncertainty of model parameters and continuous bounded perturbations from the outside; Estimating the total perturbation consisting of the uncertainty of model parameters and disturbances; Setting the reference trajectory of the first virtual leader in the formation of the mobile robot, forming the corresponding desired formation based on the set desired distances and desired angles between the robots, and creating the distance error and angle error during formation based on the desired distance and the actual distance, and the desired angle and the actual angle; Using the prescribed performance control technique to limit the created distance error and angle error to always be within the corresponding prescribed limits, and constructing a formation system controller for perturbation suppression by the dynamic surface control technique according to the distance error, angle error, and estimated total perturbation based on the Lyapunov stability theory; Performing robot formation control by the formation system controller, including: The robot is a wheeled mobile robot, and the formation system controller for perturbation suppression is 【Number 74】 where However, the matrix 【Number 75】 and matrix Γ ２ｉ = diag[Γ ２１ｉ , Γ ２２ｉ , where Γ ２ｌｉ > 0 is a designed parameter, 【Number 76】 and z σｌｉ is a parameter designed with z > 0, and l ∈ {1, 2}, φ ｉ is the traveling angle formed by the i-th robot in the formation system and the x-axis direction, 【Number 77】 represents the angular velocity of the left wheel and the angular velocity of the right wheel of the i-th wheeled mobile robot, 【Number 78】 is the estimated value of 【Number 79】 and 【Number 80】 and the virtual control input δ ｉ = [δ １ｉ , δ ２ｉ Ｔ and​ 【Number 81】 and ν ｆｉ and ν ｗｉ are the linear velocity and angular velocity of the i-th robot, 【Number 82】 and the distance between the pair of drive wheels is 2L ｉ and the radius of each wheel is R ｉ and S δｉ = [γ ｒａｉ μ ｒａｉ cos(θ), γ θｉ μ θｉ Ｔ where, however, the logarithmic barrier function​ 【Number 83】 and e Λｉ (t) is the formation error, 【Number 84】 is the upper limit of the filtering virtual control vector 【Number 85】 is the logarithmic barrier function γ Λｉ A collision avoidance formation control method for a mobile robot subject to perturbations and communication restrictions, which is a part of the first derivative of (t) and is characterized by Λ ∈ {ra, θ}.

2. The specific process of constructing the formation system model of the multi-mobile robot includes creating the relational expressions between the coordinate positions of each robot in the formation system composed of mobile robots, the running angle formed by the robot and the x-axis direction, the angular velocity, and the relationship between the acceleration of the system, each perturbation, and the control inputs of the left and right wheels. The method for collision avoidance formation control of a mobile robot subject to the restrictions of perturbations and communication according to Claim 1 is characterized by this.

3. Estimating the total perturbation consisting of the uncertainty of model parameters and disturbances based on the speed state information and control input information of the mobile robot. The method for collision avoidance formation control of a mobile robot subject to the restrictions of perturbations and communication according to Claim 1 is characterized by this.

4. Based on the desired distance and desired angle between the set robots, the process of forming the corresponding desired formation ensures, through communication and control strategies between the robots, that each robot i can effectively follow its leader robot, and maintains the desired distance and desired angle between the leader and the follower. Distance ra ｉ (t) and angle θ ｉ characterized by including representing the distance and angle formed by the leader and the follower by (t), the method for collision avoidance formation control of a mobile robot subject to perturbation and communication restrictions according to claim 1.

5. The specific process of limiting the created distance error and angle error by the specified performance control technology is As a collision avoidance condition for each robot, setting that the distance formed by the leader and the follower is greater than the minimum safe distance As a communication maintenance condition for each robot, setting that the distance formed by the leader and the follower is less than the maximum range within which communication can be maintained As an angle constraint condition, setting that among each robot, the follower robot can observe its leader at the maximum angle by a stationary visual sensor, characterized in that it includes, a collision avoidance formation control method for a mobile robot subject to perturbation and communication restrictions according to claim 1.

6. Setting an upper limit and a lower limit for each of the distance error and the angle error, and converting the formation error into a logarithmic barrier function by the specified performance control method, characterized in that it is a collision avoidance formation control method for a mobile robot subject to perturbation and communication restrictions according to claim 5.

7. A collision avoidance formation control system for a mobile robot subject to perturbation and communication restrictions applied to the collision avoidance formation control method for a mobile robot subject to perturbation and communication restrictions according to any one of claims 1 to 6, A model construction module arranged to construct a formation system model of multiple mobile robots considering the uncertainty of model parameters and continuous bounded perturbations from the outside An estimation module arranged to estimate the total perturbation consisting of the uncertainty of model parameters and disturbances An error calculation module arranged to set a reference trajectory for the first virtual leader in the formation of the mobile robot, form the corresponding desired formation based on the desired distance and desired angle between the set robots, and create a distance error and an angle error in the formation based on the desired distance and the actual distance, and the desired angle and the actual angle With the specified performance control technology, the created distance error and angle error are always restricted to be within the corresponding specified limits. Based on the Lyapunov stability theory, according to the distance error, angle error and estimated total perturbation, a perturbation suppression formation system controller is constructed by the dynamic surface control technology, and a control module arranged to perform robot formation control by the formation system controller. A collision avoidance formation control system for a mobile robot subject to perturbation and communication restrictions, characterized by including.

8. A computer-readable storage medium, characterized in that it is used to store computer commands that, when executed by a processor, complete the steps in the method according to any one of claims 1 to 6.

9. An electronic device, comprising a memory, a processor, and computer commands stored in the memory and executed on the processor, wherein when the computer commands are executed by the processor, the steps in the method according to any one of claims 1 to 6 are completed.

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