【 中文摘要 】本发明提供一种基于距离‑角度优先级的多移动机器人编队避障方法，(1)根据机器人数量建立队形数据库；(2)形成距离‑角度优先级避障策略；对单双侧障碍物与队形的距离进行分析，判断是否需要避障，若需要则根据距离‑角度优先级判断以何种队形避障，并调用步骤(1)中的队形数据库进行避障准备；(3)设计运动控制器，根据决策的避障队形开始避障；(4)避障结束后，快速恢复队形。本发明通过建立队形数据库，对单侧障碍物和双侧障碍物与机器人队形之间的距离进行分析，得到最短路径避障策略，根据跟随者与虚拟领航者的相对位姿及运动学方程，利用反步法设计运动控制率，使机器人完成稳定编队的同时通过障碍物并迅速恢复队形。

【 英文摘要 】The present invention provides a distance-angle priority based multi-mobile robot formation obstacle avoidance method, (1) establishing a formation database according to the number of robots; (2) forming a distance-angle priority obstacle avoidance strategy; Analyzing the distances between the single-side and double-side obstacles and the formation, judging whether the obstacle avoidance is needed, if so, judging which formation to avoid the obstacle according to the distance-angle priority, and calling the formation database in the step (1) to prepare for obstacle avoidance; (3) designing a motion controller, and starting obstacle avoidance according to the decided obstacle avoidance formation; (4) After the obstacle avoidance is over, quickly recover the formation. The present invention establishes formation data base, The distance between the single-side obstacle and the robot formation and the distance between the double-side obstacle and the robot formation are analyzed to obtain a shortest path obstacle avoidance strategy, and according to the relative poses of a follower and a virtual leader and a kinematic equation, a motion control rate is designed by using a back-step method, so that the robot passes through the obstacle and quickly recovers the formation while completing stable formation.

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