Aiming at the problem of formation maintenance and autonomous obstacle avoidance of multi-robot formation in obstruction-free environment, a hybrid control algorithm of formation cooperative obstacle avoidance based on leader-follower method and artificial potential field method was proposed. By establishing the motion model of the two-wheeled robot, the traditional artificial potential field method is improved, the virtual repulsive rotation potential field is established, the local minimum problem is solved, and the way of the followers' gravitational attraction is improved to ensure that the relative position relationship between the front and back of the robot remains stable in the obstacle environment. Finally, a hybrid algorithm of formation cooperative obstacle avoidance control is proposed. The simulation results show that the robot formation can maintain the ideal formation in an obstacle-free environment and quickly recover the ideal formation after obstacle avoidance.
formation to avoid obstaclesleader-follower methodartificial potential field method
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