关键词: 多机器人, 编队控制, 遗传算法, 领航跟随法

Abstract: To solve the problems of slow convergence speed and non-smooth path that exist in traditional genetic algorithm when solving robot path planning problem, the following improvements are made, the factor of path smoothness is added into the fitness function, and the path with better smoothness is easier to be selected. In population selection, the best individuals are directly copied to the next generation, effectively preserving the good genes of the father generation. In the stage of path planning for leader robot, the improved genetic algorithm is used to plan an optimal path without collision and with good smoothness. In the following stage of follower robot, the leader-follower method is used to control each following robot to maintain a specific distance and angle from the pilot, so as to form a set formation. Finally, a raster map is established by MATLAB for simulation, which verifies the feasibility of the algorithm. Compared with the traditional genetic algorithm, the improved genetic algorithm has faster convergence speed and smoother path.

Key words: multi-robot, formation control, genetic algorithm, leader-follower