【作者】 陈佳； 单梁； 吴志强； 吴振星； 常路；

【Author】 Jia Chen;Liang Shan;Zhiqiang Wu;Zhenxing Wu;Lu Chang;Automation School,Nanjing University of Science & Technology;

【机构】 南京理工大学自动化学院；

【摘要】 本文针对多机器人编队在复杂环境中行进易受环境影响破坏整体队形的问题,提出了一种虚拟结构法和领航跟随法相结合的机器人协同编队算法。通过采用一种队形压缩变换策略,将机器人编队问题拆分成整体的控制以及队形变换的控制两个部分。对整体的控制主要实现对领航机器人的控制,而对于该整体内部,给定所有跟随机器人相对整体的位置信息,通过设计前馈控制器和反馈控制器,控制所有跟随机器人跟踪各自的目标位置,从而实现多机器人的协同控制。仿真结果表明,该算法可有效进行整体的避障和队形的变换,可快速准确跟踪领航机器人。更多还原

【Abstract】 Aiming at the problem that multi-robot formations traveling in a complex environment are easily affected by the environment and destroy the overall formation, this paper proposes a robot cooperative formation algorithm that combines virtual structure method and pilot-following method. By adopting a formation compression and transformation strategy, the robot formation problem is divided into two parts: the overall control and the control of the formation transformation. The control of the whole mainly realizes the control of the pilot robot. For the inside of the whole, given the relative position information of all the following robots, by designing a feedforward controller and a feedback controller, all the following robots are controlled to track their respective target positions. So as to realize the cooperative control of multiple robots. The simulation results show that the algorithm can effectively perform overall obstacle avoidance and formation transformation, and it can track the pilot robot quickly and accurately.更多还原