Coordinated Control of Multiple Mobile Robots Based on Consensus Formation

In response to the low coordination efficiency of multiple mobile robots in industrial production, a multi-agent collaborative formation algorithm is proposed. The limited state of application of mobile robots in the production workshop is analyzed, and the working process of mobile robots is described using agents. In response to the above-mentioned issues, we propose a multi-agent collaborative formation algorithm based on cooperative control for multiple mobile robots. Finally, we validate the effectiveness and performance advantages of the proposed algorithm through a series of simulation experiments. Simulation experiments are conducted on the multi-agent collaborative formation algorithm in a simulated environment. The results show that the proposed algorithm can maintain good stability and obstacle adaptability during the entire movement period of the multi-robot formation. Further simulation experiments in the workshop demonstrate that the collaborative formation algorithm can organize multiple robots to form a formation in a relatively short time, sequentially complete dynamic obstacle avoidance, and effectively reduce conflict risks and spatial congestion levels.