Research on Multi-Robot Cooperative Handling and Obstacle Avoidance Algorithm

摘要

In order to improve the efficiency and stability of multi-robot handling, inspired by stretcher handling, this paper is mainly aimed at obstacle avoidance and trajectory tracking in multi-robot handling of deformable sheet materials. When facing the obstacle avoidance problem in multi-robot handling, under the premise of ensuring stability, obstacle avoidance is achieved by improving the geometric obstacle avoidance control method based on the leader-follower formation control method while taking advantage of the characteristics of the deformable material. By improving the sliding mode variable structure control, the tracking of the respective target trajectory by each mobile robot is achieved, and the tracking error converges to zero. The simulation results show that the designed multi-robot cooperative handling algorithm can effectively achieve formation handline and obstacle avoidance.