JACIII Vol.26 No.3 pp. 342-354
doi: 10.20965/jaciii.2022.p0342


A Hybrid Path Planning and Formation Control Strategy of Multi-Robots in a Dynamic Environment

Meng Zhou, Zihao Wang, Jing Wang, and Zhe Dong

School of Electrical and Control Engineering, North China University of Technology
No.5 Jinyuanzhuang Road, Shijingshan District, Beijing 100144, China

December 17, 2021
February 22, 2022
May 20, 2022
multi-robots formation control, hybrid motion planning, improved GWO-WOA algorithm, swarm intelligence algorithm, controller design

This paper proposes a hybrid path planning and formation control strategy for multi-robots in a dynamic environment. Under a leader-follower formation structure, the followers can track the motion of one leader after the leader’s path is determined. First, a hybrid path planning strategy that contains global path planning and local path planning of the leader is investigated, in which an improved hybrid grey wolf optimizer with whale optimizer algorithm (GWO-WOA) is designed for the global path planning in a given map, meanwhile, a dynamic window approach (DWA) is fused for the local path planning to avoid dynamic obstacles. Then, a leader-follower formation control algorithm is proposed for multiple mobile robots. The followers are controlled to track their corresponding virtual robots which are generated according to the leader’s position and the formation. Finally, simulation experiments are given to demonstrate the feasibility and effectiveness of the proposed algorithm in different environments.

Formation motion planning

Formation motion planning

Cite this article as:
M. Zhou, Z. Wang, J. Wang, and Z. Dong, “A Hybrid Path Planning and Formation Control Strategy of Multi-Robots in a Dynamic Environment,” J. Adv. Comput. Intell. Intell. Inform., Vol.26 No.3, pp. 342-354, 2022.
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Last updated on Jul. 23, 2024