杨丽, 曹志强, 谭民. 不确定环境下多机器人的动态编队控制[J]. 机器人, 2010, 32(2): 283-288.
引用本文: 杨丽, 曹志强, 谭民. 不确定环境下多机器人的动态编队控制[J]. 机器人, 2010, 32(2): 283-288.
YANG Li, CAO Zhiqiang, TAN Min. Dynamic Formation Control for Multiple Robots in Uncertain Environments[J]. ROBOT, 2010, 32(2): 283-288.
Citation: YANG Li, CAO Zhiqiang, TAN Min. Dynamic Formation Control for Multiple Robots in Uncertain Environments[J]. ROBOT, 2010, 32(2): 283-288.

不确定环境下多机器人的动态编队控制

Dynamic Formation Control for Multiple Robots in Uncertain Environments

  • 摘要: 提出了一种不确定环境下多机器人的动态编队控制方法.通过队形参数矩阵确立多机器人之间的相对位置关系,将全局队形控制问题转化为跟随机器人离轴点对虚机器人(与领航机器人运动方向一致,且对领航机器人保持期望的相对距离和观测方位角)离轴点的跟踪.基于建立的跟随机器人和领航机器人之间的误差跟踪系统模型设计相应控制律实现队形保持,并提出了防止机器人与障碍物及其它机器人碰撞的避障策略.仿真结果表明了所提方法的可行性和有效性.

     

    Abstract: A novel dynamic formation control approach for multiple robots in uncertain environments is proposed, which adopts the formation parameter matrix to establish the relative relationship among the robots, transforms the global-level formation control problem into the problem that the-off-axis point of the follower tracks the-off-axis point on the virtual robot which has the same orientation with the leader robot and maintains the desired relative distance and desired observation angle with respect to its leader robot. The control law based on the derived error tracking system model about the follower and leader is designed to maintain the formation, and an obstacle avoidance strategy is proposed to prevent the robot from possible collisions with obstacles and other robots. Simulation results are given to demonstrate the feasibility and effectiveness of the approach.

     

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