【摘要】 针对未知环境下多移动机器人编队控制和避障问题,提出了一种虚拟结构领航跟随法和人工势场法结合的编队控制方法。首先,通过引入虚拟跟随者将编队控制问题转换为跟踪控制问题,并基于人工势场法和相邻机器人间的位置关系,构造出一种避碰势场函数,设计编队跟踪控制器,规划各跟随机器人跟踪路径,实现编队跟踪控制。然后,根据传感器测算环境约束条件,进一步设计队形保持、同构变换和异构变换3种动态队形变换模式,通过计算队形变换阈值和决策因子,选择满足约束条件的变换模式,控制机器人编队脱离障碍物,恢复队形。最后,通过Matlab仿真和3台移动机器人的物理实验结果分析,验证了该方法的有效性和实用性。更多还原

【Abstract】 Aiming at the formation and obstacle avoidance problems of multi-mobile robots in unknown environments, a formation control algorithm combining the virtual structure leader-follower method and the artificial potential field is proposed. In order to realize the formation tracking control,introducing virtual followers to transform the formation control problem into a tracking control problem, a collision avoidance potential field function is constructed based on the artificial potential field and the positional relationship between neighboring robots, and the formation tracking controller is designed to plan the tracking path of each following robot. In order to control the robot formation away from obstacles and back into formation, based on the environmental constraints measured by the sensors, three dynamic formation transformation modes, namely, formation maintenance, isomorphic transformation and heteromorphic transformation, are designed. By calculating the formation transformation trigger factor and decision factor, the transformation mode that satisfies the constraints is selected. Finally, the effectiveness and practicability of the method are verified through Matlab simulation and physical experiments on three mobile robots.更多还原