考虑障碍环境下的多机器人编队控制研究

编队和避障控制是机器人路径规划设计中的典型问题，文中提出了将leader—following法和人工势场法相结合的方法，来更好地完成多机器人在未知环境下的编队和避障控制。之前的研究只将leader—following算法用于多机器人的编队控制，而文中提出此方法也可以用于多机器人系统的避障控制。基于leader—following法，多机器人能自动编队并保持队形；而结合人工势场法，多机器人可以保持队形行进，在遇到障碍物的情况下变换队形避障，在避障后恢复原队形，最终到达目标。通过仿真实验证明，该算法实现了多机器人在未知环境下的自动编队和避障，从而证明了leader—following算法可以用于机器人的避障控制。

Research on Formation and Control of Multi-robot in Obstacle Environment

Formation and obstacle avoidance control is a typical problem in the design of path planning of robots. Combining the leader- following method with the artificial potential field method, realize the formation and obstacle avoidance control of multiple mobile robots in an unknown environment. In the previous study, the leader-following method is used only for multiple robots formation control ,but this method presented can also be used for obstacle avoidance control of multiple robots system. Through leader-following method,multi -robot system can automatically formation and keep the formation;with the artificial potential field method, multi-robot system can avoid obstacles and keep formation in the unknown environment. The simulation results show that the proposed method is effective.