Research on Autonomous Obstacle Avoidance for Robot Cluster under Communication Distance Constraint

In order to avoid obstacles under the constraint of communication distance, the individual control protocol of robot cluster is designed, and the stability of the system is proved based on Lyapunov stability theory. The proposed robot cluster self-organizing obstacle avoidance control strategy is verified by simulation. The results show that the designed control protocol can ensure that the robots that initially meet the communication distance constraints always stay in the communication range and successfully achieve obstacle avoidance.