In the real environment of multi-robot formation task,it is inevitable to encounter the dynamic formation problem of formation transformation.To improve the dynamic cooperative obstacle avoidance ability of multi-robot formation in unstructured environment,taking the multi-robot system of large-load-ratio six-legged robot as an example,an obstacle avoidance strategy of dynamic formation transformation for the cluster consensus of multi-leader robots is proposed by using the leader-follower formation idea of the trajectory tracking of nonholonomic constrained mobile robots.Based on the mathematical foundation of algebraic graph theory,the communication topology and topology analysis matrixes of multiple large-load-ratio six-legged robots are designed.The global dynamic relationship and consistency mathematical model of the multi-leader cluster consensus formation system are established.The obstacle avoidance strategy of dynamic formation transformation is proposed on the cluster consensus formation control of multi-leader robots.The simulation experiments are carried out based on MATLAB software.The simulation results show that the virtual leader robot issues the control commands to make the multi-robot system complete the formation transformation and smoothly pass through the obstacle environment.Then,the effectiveness and generalization ability of the obstacle avoidance control strategy are verified for the multi-robot dynamic cooperative formation.The proposed obstacle avoidance control strategy of multi-robot dynamic cooperative formation for the large-load-ratio six-legged robot is helpful to improve the terrain passing ability of multi-robot system in unstructured environment.
维普
万方数据