Research on adaptive formation control of mobile robot based on improved virtual spring method

摘要

A robot formation control algorithm based on virtual spring model is proposed to solve the problem of path planning and formation keeping in unknown environment. By improving the design of target attraction, obstacle repulsion and interaction force between robots, the formation control is more secure and stable. Furthermore, the leader-follower formation transformation problem is studied. According to the objective function of minimum completion time, minimum total energy consumption and minimum total spring deformation, an adaptive formation transformation strategy is designed. This strategy can choose formation transformation mode adaptively according to the environment characteristics, such as adjust the parameters of the formation and reconfigure the formation, so that the robot formation can complete the task in a short time and energy consumption. Finally, the effectiveness of the proposed method is verified by simulation and real experiment.