车式移动机器人动态编队控制方法

张瑞雷, 李胜, 陈庆伟

张瑞雷, 李胜, 陈庆伟. 车式移动机器人动态编队控制方法[J]. 机器人, 2013, 35(6): 651-656. DOI: 10.3724/SP.J.1218.2013.00651
引用本文: 张瑞雷, 李胜, 陈庆伟. 车式移动机器人动态编队控制方法[J]. 机器人, 2013, 35(6): 651-656. DOI: 10.3724/SP.J.1218.2013.00651
ZHANG Ruilei, LI Sheng, CHEN Qingwei. Dynamic Formation Control for Car-like Mobile Robots[J]. ROBOT, 2013, 35(6): 651-656. DOI: 10.3724/SP.J.1218.2013.00651
Citation: ZHANG Ruilei, LI Sheng, CHEN Qingwei. Dynamic Formation Control for Car-like Mobile Robots[J]. ROBOT, 2013, 35(6): 651-656. DOI: 10.3724/SP.J.1218.2013.00651
张瑞雷, 李胜, 陈庆伟. 车式移动机器人动态编队控制方法[J]. 机器人, 2013, 35(6): 651-656. CSTR: 32165.14.robot.2013.00651
引用本文: 张瑞雷, 李胜, 陈庆伟. 车式移动机器人动态编队控制方法[J]. 机器人, 2013, 35(6): 651-656. CSTR: 32165.14.robot.2013.00651
ZHANG Ruilei, LI Sheng, CHEN Qingwei. Dynamic Formation Control for Car-like Mobile Robots[J]. ROBOT, 2013, 35(6): 651-656. CSTR: 32165.14.robot.2013.00651
Citation: ZHANG Ruilei, LI Sheng, CHEN Qingwei. Dynamic Formation Control for Car-like Mobile Robots[J]. ROBOT, 2013, 35(6): 651-656. CSTR: 32165.14.robot.2013.00651

车式移动机器人动态编队控制方法

详细信息
    作者简介:

    张瑞雷(1985- ),男,博士研究生. 研究领域:机器人智能控制,多机器人协调控制等.
    李 胜(1976- ),男,博士,副教授. 研究领域:非线性控制系统,机器人控制系统,欠驱动控制系统等.
    陈庆伟(1963- ),男,博士,教授. 研究领域:智能控制与智能系统,高精度轨迹跟踪系统.

    通信作者:

    张瑞雷, zhangrelay@qq.com

  • 中图分类号: TP273

Dynamic Formation Control for Car-like Mobile Robots

  • 摘要: 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.
    Abstract: 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.
  • [1] Farinelli A, Locchi L, Nardi D. Multirobot systems: A classification focused on coordination[J]. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 2004, 34(5): 2015-2028.    
    [2] Balch T, Arkin R C. Behavior-based formation control for multirobot teams[J]. IEEE Transactions on Robotics and Automation, 1998, 14(6): 926-939.  
    [3] Lawton J R T, Beard R W, Young B J. A decentralized approach to formation maneuvers[J]. IEEE Transactions on Robotics and Automation, 2003, 19(6): 933-941.  
    [4] 杨帆, 刘士荣, 董德国. 编队控制中的机器人行为与基于服务的运动行为结构设计[J]. 机器人, 2012, 34(1): 120-128. Yang F, Liu S R, Dong D G. Robot behavior and service-based motion behavior structure design in formation control[J]. Robot, 2012, 34(1): 120-128.
    [5] 宋敏, 魏瑞轩, 沈东, 等. 基于非线性动态逆的无人机编队协同控制[J]. 控制与决策, 2011, 26(3): 448-452. Song M, Wei R X, Shen D, et al. UAV formation control based on nonlinear dynamic inversion[J]. Control and Decision, 2011, 26(3): 448-452.
    [6] 李少斌, 陈炎财, 杨忠, 等. 具有通信延迟的多无人机编队飞行控制[J]. 信息与控制, 2012, 41(2): 142-146. Li S B, Chen Y C, Yang Z, et al. Formation fight control of multi-UAVs with communication delay[J]. Information and Control, 2012, 41(2): 142-146.
    [7] Wang Y, Yan W, Li J. Passivity-based formation control of autonomous underwater vehicles[J]. IET Control Theory and Applications, 2012, 6(4): 518-525.  
    [8] Wei R, Sorensen N. Distributed coordination architecture for multi-robot formation control[J]. Robotics and Autonomous Systems, 2008, 56(4): 324-333.  
    [9] Ghommam J, Mehrjerdi H, Saad M, et al. Formation path following control of unicycle-type mobile robots[J]. Robotics and Autonomous Systems, 2010, 58(5): 727-736.  
    [10] Mehrjerdi H, Ghommam J, Saad M. Nonlinear coordination control for a group of mobile robots using a virtual structure[J]. Mechatronics, 2011, 21(7): 1147-1155.  
    [11] Consolini L, Morbidi F, Prattichizzo D, et al. Leader-follower formation control of nonholonomic mobile robots with input constraints[J]. Automatica, 2008, 44(5): 1343-1349.  
    [12] Shao J, Xie G, Wang L. Leader-following formation control of multiple mobile vehicles[J]. IET Control Theory and Applications, 2007, 1(2): 545-552.  
    [13] 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 L, Cao Z Q, Tan M. Dynamic formation control for multiple robots in uncertain environments[J]. Robot, 2010, 32(2): 283-288.
    [14] 曹政才, 赵应涛, 付宜利. 车式移动机器人轨迹跟踪控制方法[J]. 电子学报, 2012, 40(4): 632-635. Cao Z C, Zhao Y T, Fu Y L. Trajectory tracking control approach of a car-like mobile robot[J]. Acta Electronica Sinica, 2012, 40(4): 632-635.
    [15] Jiang Z P, Nijmeijer H. A recursive technique for tracking control of nonholonomic systems in chained form[J]. IEEE Transactions on Automatic Control, 1999, 44(2): 265-279.  
    [16] Kumar U, Sukavanam N. Backstepping based trajectory tracking control of a four wheeled mobile robot[J]. International Journal of Advanced Robotic Systems, 2008, 5(4): 403-410.
    [17] 李胜, 马国梁, 胡维礼. 基于Backstepping方法的车式移动机器人轨迹追踪控制[J]. 东南大学学报:自然科学版, 2005, 35(2): 248-252. Li S, Ma G L, Hu W L. Tracking control of car-like mobile robot based on backstepping[J]. Journal of Southeast University: Natural Science Edition, 2005, 35(2): 248-252.
    [18] Michael N, Fink J, Kumar V. Experimental testbed for large multirobot teams[J]. IEEE Robotics & Automation Magazine, 2008, 15(1): 53-61.  
计量
  • 文章访问数:  31
  • HTML全文浏览量:  1477
  • PDF下载量:  845
  • 被引次数: 0
出版历程
  • 收稿日期:  2013-01-30

目录

    /

    返回文章
    返回
    x 关闭 永久关闭