Collaborative motion control method and system, computer equipment and robot

The invention belongs to the technical field of multi-robot or unmanned aerial vehicle cooperative control systems, discloses a cooperative motion control method and system, computer equipment and robots, and adopts a real-time distributed control mode in robot control, in particular, a control algorithm of the robot is a model prediction control and mathematical programming method. A control strategy for group formation keeping priority or speed priority of a robot in a static environment and a control strategy for keeping an original formation as much as possible on the premise of ensuring successful obstacle avoidance of multiple robots in a dynamic environment are researched. The system comprises an obstacle position detection module, a formation or speed control module and a control module used for the group formation keeping priority priority or speed priority of the robot in a static environment. In a dynamic environment, the system comprises an obstacle prediction module and aformation control module