基于六轮机器人的多智能体群体避障及队形变换

2022 First International Conference on Cyber-Energy Systems and Intelligent Energy (ICCSIE) Pub Date : 2023-01-14 DOI:10.1109/ICCSIE55183.2023.10175276

Jian Gao, Kang Chen, Can Wu, Song Wang

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引用次数: 0

摘要

基于SolidWorks软件，建立了六轮机器人的系统模型。针对机器人定位问题，基于AMCL算法实现了六轮机器人在已知环境中的定位。针对多机器人系统的群体控制问题，采用leader - follow算法设计了基于李雅普诺夫定理的控制器和基于Pid控制的控制器。基于Ros操作系统对两种控制器的控制效果进行了仿真。针对多机器人系统中的群体避障问题，提出了一种基于a *和DwA算法的多机器人编队整体避障策略，实现了多机器人系统的导航和群体避障。考虑到多机器人系统需要适应不同的环境，通过设置优先级选择不同的编队编队，提高多机器人系统的环境适应性。

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

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.

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来源期刊

2022 First International Conference on Cyber-Energy Systems and Intelligent Energy (ICCSIE)

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