Research on Multi-robot Cooperative Path Planning Technology Based on Leader-Follower

More and more mobile robots have been put into use, and its application field and scope are expanding constantly. Multiple robots have the advantages that a single robot does not have, therefore, the research of multiple robots has increasingly drawn people's attention. This paper proposes a cooperative path planning method for multiple robots based on leader-follower. Under the leadership of the leader, coordinated obstacle avoidance movement is carried out in a triangular formation using the coordinate position and the distance between them. Then the feasibility of the system was established and verified in gazebo simulation environment, and the formation maintenance and overall obstacle avoidance functions were realized. Finally, the multi-robot formation cooperative path planning system is verified on the robot platform equipped with Mecanum wheels. The multi-robot formation controlling architecture was established based on the leader-follow system framework, and the multi-robot cooperative path planning and obstacle avoidance algorithms were verified indoors. It lays a good foundation for the following research of multi-robot formation cooperative path planning on this platform.