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| Path Planning and Formation Research of Micro Mobile Robots |
| LI Jiang-hao1,YAN Ya-nan1,PENG Dan2 |
1. School of Information Science and Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China
2. College of Science, Yanshan University, Qinhuangdao, Hebei 066004, China |
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Abstract Aiming at the problem that micro-robot formation and path optimization tasks. A combination of path planning and trajectory tracking is proposed, and finally the formation task is realized. Firstly, an improved algorithm based on traditional ant colony algorithm is proposed. By improving parameters and the initial pheromone matrix of traditional ant colony algorithm, the simulation results show that the improved algorithm improves the convergence speed by 50% and the global optimization ability by 30%. Secondly, the tracking controller based on Lyapunov algorithm is designed. Through simulation, the error eventually reaches 0 and the stability of the controller is verified. Finally, combined with Lyapunov controller and path optimization algorithm, the stable formation of multi-robot on the optimal path is completed.
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Received: 28 May 2019
Published: 20 April 2021
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2021, Vol. 42 
