A new path planning method for multi-robot formation in three-dimensional space

摘要

Aimed at the formation of multi-robot in 3D space, a new path planning method was proposed based on the market auction method and tangent circle method. This method makes use of the market auction method to allocate tasks so that the robot can obtain the coordinates of each task in the low energy consumption and low cost condition of the system. The traditional tangent circle method was improved, and a tangent circle method was proposed to plan the motion path of each robot, and finally form the formation shape and made the robot have the same attitude. The space tetrahedron formation which is formed by four robots is taken as an example for simulation, the results show that the method can realize the path planning of multi-robot formation and the motion attitude control of the robot in three-dimensional space.