针对车式移动机器人的编队问题，提出一种多机器人动态协调控制算法．首先利用领航机器人和跟随机器人期望位姿参数生成虚拟机器人，建立跟随机器人对虚拟机器人轨迹跟踪系统模型．然后将机器人运动学模型转化为链式标准形，运用反步法，逐步构造轨迹跟踪系统的李亚普诺夫函数，并通过使该函数负定，得到跟随机器人的轨迹跟踪控制器，实现了车式移动机器人的编队控制．最后在Microsoft Robotics Developer Studio 4（MRDS4）中搭建3D仿真平台，设计了3组实验，验证了所提方法的有效性．
For the formation problem of the car-like mobile robots, a dynamic coordinated control algorithm for multiple robots is proposed. Firstly, a model of trajectory tracking system for the follower robot is established through the virtual robot, which is generated according to the desired formation parameters of the leader and follower robots. Then the robot's kinematics model is transformed into the chain form, and the Lyapunov function of the trajectory tracking system is constructed via the backstepping method. The trajectory tracking controller for the follower robot is obtained by making this Lyapunov function negative-definite. The formation control of the car-like mobile robots is realized in this way. A 3D simulation testbed is designed by the Microsoft Robotics Developer Studio 4 (MRDS4), and the effectiveness of the proposed method is demonstrated through 3 sets of experiments.
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