Research on Arbitrary Formation Control of Multiple Robots in Obstacle Environment

摘要

To overcome the multi-robots form arbitrary formation in obstacle environment, we propose a control algorithm that combines target allocation algorithm and obstacle avoidance strategy. Firstly, we express the distance between the position of robots and target points by distance information matrix, thus ensure each robot find the corresponding target point. The key idea of the algorithm is to avoid robots from detours and reduce the possibility of collisions between robots. Secondly, the obstacle avoidance is achieved by improving the artificial potential field method integrated with the strategy of moving along the periphery of obstacles. Finally, a simulation environment is established by pygame modules. Simulation results show that the proposed method is feasible and effective.