Multi-robot system for obstacle avoidance and method using switching formation strategy for obstacle avoidance

Multi-robot system for obstacle avoidance and method using switching formation strategy for obstacle avoidance

This technology is a control mechanism for a multi-robot system consisting of a leader robot and follower robots. It calculates waypoints using a Geometric Obstacle Avoidance Control Method (GOACM) and performs obstacle avoidance and formation reconfiguration by switching formations based on these waypoints.

Existing artificial potential field methods have faced issues such as local minima, reduced efficiency due to complex computations, and the risk of inter-robot collisions when attempting to maintain formations while simultaneously avoiding obstacles.

This technology utilizes a switching formation strategy and priority model where the leader robot calculates waypoints based on the shortest or safe distance to obstacles, and follower robots recalculate required distances and azimuths in real-time to change and maintain formations without collisions. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it improves obstacle avoidance performance in multi-robot systems by providing an effective switching formation strategy for re-forming large-scale structures and detecting inter-robot collisions.

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Key Features:

• A leader robot positioned at the front of the direction of travel and follower robots forming a line formation behind it
• Each robot includes a body, wheels, a drive unit, a control unit, and a front sensor unit
• When the leader robot's sensor unit detects an obstacle, it calculates waypoints using geometric avoidance control
• A configuration where follower robots cooperate with the leader robot to transition into an obstacle avoidance formation

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of intelligent robot convergence technology for new and renewable energy.