Obstacle avoidance and formation transformation of multi-agent groups based on six-wheeled robot

摘要

Based on SolidWorks software, the system model of six-wheeled robot is built. Aiming at the problem of robot localization, the localization of six-wheeled robot in known environment is realized based on AMCL algorithm. Aiming at the formation control problem of multi-robot system, the controller based on Lyapunov theorem and the controller based on Pid control are designed by using the Leader-Following algorithm. The control effects of the two controllers are simulated based on Ros Operating System (ROS). Aiming at the problem of group obstacle avoidance in multi-robot system, a multi-robot formation as a whole obstacle avoidance strategy is proposed based on A* and DwA algorithm, and the navigation and group obstacle avoidance of multi-robot system are realized. Considering that the multi-robot system needs to adapt to different environments, different formation formations are selected by setting priority to improve the environmental adaptability of the multi-robot system.