【作者】 陈余庆； 王伟；

【Author】 Chen Yuqing, Wang wei (Research Center of Information and Control, Dalian University of Technology, Dalian 116024)

【机构】 大连理工大学信息与控制研究中心；

【摘要】 主要研究了非完整自主机器人之间的队形保持问题。提出了一种新的编队复合控制方法,该方法根据机器人的期望位置在其约束区域内外的不同,分别以一种具有双向运动特性的反馈线性化控制算法和最优近似目标算法来建立控制规则,并分析队形保持稳定的约束条件,从而实现多机器人的稳定编队控制。该方法降低了传统反馈控制对编队初始误差的要求,克服了碰撞给编队队形带来的不利影响,解决了非完整机器人编队转弯控制不稳定问题。实验结果验证了该方法在机器人队形保持控制中的有效性。更多还原

【Abstract】 The formation keeping characteristics for nonholonomic autonomous mobile robots are investigated in this paper. A novel approach of compound control is presented, which deals with the formation task based on two different algorithms: a flexible feedback linearization control algorithm and an optimal approximate target algorithm. And the algorithms are selected according to robot’s expected location and motion constraint domain. Also the formation stability is discussed to complete a steady formation. The proposed method can not only reduce the limitation of initial errors compared with traditional feedback linearization, rectify the formation shape distortion due to collision, but also resolve the unstable controlling problem while robots are turning rapidly. The experimental results have demonstrated the method’s effectiveness.更多还原