Multi-robot navigation-following control method based on linear formation mode

• Main Authors: XU XIANGHU, YANG FUZENG, WANG WANG, QIN JIFENG, YUAN MINXIN, ZHANG FURUI
• Format: Patent
• Language: Chinese; English
• Published: 05.09.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention relates to a multi-robot navigation-following control method based on a linear formation mode, and the method specifically comprises the following steps: S1, building a centralized control multi-robot system, and forming a navigation (transportation)-following (picking)-following (transportation) type operation mode; s2, acquiring pose and motion state data of each robot through a navigation sensor; s3, the host commands the piloting robot to go to the target point and generates an incremental target path; s4, an artificial potential field method and a pure tracking algorithm are coupled, according to the incremental target path, the picking robot tracks the pilot robot, and the following transport robot tracks the picking robot; s5, each robot performs dynamic obstacle avoidance through the laser radar in the driving process; according to the multi-robot navigation-following control method based on the linear formation mode provided by the invention, the tracking speed of the following robot ca