Collaborative Multi-Robot Formation Control and Global Path Optimization

For multi-robot cooperative formation and global path planning, we propose to adjust the repulsive field function insert a dynamic virtual target point solve local minima unreachability problems of traditional artificial potential (APF) method. The convergence speed optimization accuracy ant colony (ACO) are improved by introducing state transfer functions with heuristic information method optimizing pheromone concentration update rules. A hybrid algorithm combining APF ACO is used calculate an optimal from starting end for leader robot. control graph theory consistency proposed based on planning Taking AGVs in logistics distribution center as example, feasibility its effectiveness solving problem verified.