Design and Analysis of Multi-robot Grouping Aggregation Algorithm

摘要

In this paper, the grouping aggaregation problem of multi-robot in simple environment is studied. The grouping algorithm and aggregation algorithm are mainly discussed. Based on K-means clustering algorithm, a grouping control algorithm that can determine the number of groups and complete the grouping task autonomously was designed. Aiming at the problem of aggregation, three kinds of aggregation algorithms are proposed. Taking the center aggregation control as an example, the cooperation and control of each group of robots are studied. Finally, the simulation results of MATLAB show that the multi-robot grouping and aggregation algorithm is effective.