Simulation and Optimization of Collaborative Control for Smoke Exhaust and Firefighting Robots

The smoke exhaust and firefighting robot faces the issue of poor formation stability during operation. Therefore, this paper leverages multidisciplinary knowledge, including dynamics and robot kinematics, and utilizes the powerful simulation capabilities of Matlab to simulate multi-robot collaborative operations. The leader-follower method is adopted for formation control, and the artificial potential field method is used for path obstacle avoidance. The simulation software models the trajectory planning and obstacle avoidance processes of the smoke exhaust and firefighting robot. Through in-depth analysis and mining of simulation data, the performance bottlenecks in collaborative robot operations are precisely identified, verifying the effectiveness of the proposed method.