A MULTI ROBOT SYSTEM FOR AVODING OBSTACLE AND A METHOD USING SWITCHING FORMATION STRATEGY FOR OBSTABLE AVOIDANDCE

摘要

According to an embodiment of the present invention, there is provided an obstacle avoiding method of a multi-robot, comprising: providing a multi-robot including one leading robot and a following at least one following robot that form a row in a row; Forming and maintaining a predefined size of the multi-robot; Detecting a situation where a sensor attached to the head robot should avoid an obstacle; Calculating a waypoint for avoiding an obstacle by using a geometric obstacle avoidance control method by the control unit of the head robot; Wherein the sensor attached to the following robot confirms the distance between the following robot and the controller of the following robot judges whether a collision problem has occurred or not; And the follow-up robots cooperating with the head robot to switch to an obstacle avoidance formation; . / RTI