Multi-robots Formation and Obstacle Avoidance Algorithm Based on Leader-Follower and Artificial Potential Field Method

Multi-robots collaborative has important application prospects in fields such as military, medical, transportation, security patrols, rescue and disaster relief. Robots keep formation and obstacle avoidance are two of the core technologies in the application of multi robot cooperative system. This paper designs and implements a distributed robots formation and obstacle avoidance system based on the combination of fuzzy cascade PID and improved artificial potential field. This paper also designs a model of 2D lidar used to judge obstacles. It ensures the stability of multi robot formation through cascade fuzzy PID, When multi-robots system encountering obstacles, Combine with the cascade fuzzy PID and the improved artificial potential field algorithm, the multi-robots can complete obstacle avoidance while ensuring the formation. Finally, experiments were conducted on multi-robots physical platform, and the results showed that the algorithm can ensure formation during robot movement and avoid obstacles when moving in the scenario with massive obstacles.