Collaborative obstacle avoidance algorithm and simulation of swarm robots with limited viewing angle

Abstract

In this paper, the problem of collaborative obstacle avoidance of swarm robots with limited view angles is studied. In the case of limited view angles, the control model of swarm robots system is designed. The swarm robots can safely avoid a single static obstacle when the obstacle is within the robot’s visual angle. The main research result of this paper is to design a collaborative obstacle avoidance control algorithm for swarm robots, and subdivide the overall control algorithm into three sub algorithms: formation, obstacle avoidance and navigation. The condition of limited view angle is added to the collaborative obstacle avoidance control algorithm of swarm robots, and a control model of collaborative obstacle avoidance of swarm robots with limited view angle is constructed. Then based on the Simulink platform, the simulation is carried out in the case of static obstacle to verify the correctness and stability of the algorithm.