【作者】 王思飞； 缪志强； 王耀南； 林琼； 陈林；

【Author】 Wang Sifei;Miao Zhiqiang;Wang Yaonan;Lin Qiong;Chen Lin;College of Electrical and Information Engineering, Hunan University;

【机构】 湖南大学电气与信息工程学院；

【摘要】 针对多机器人编队中队形保持和规避障碍问题,目前使用广泛的PID控制方法难以处理这类多约束,非线性度高的问题。本文从改进分布式模型预测控制(Distributed Model Predict Control,DMPC)成本函数的角度出发,引入了物理学中的引力和斥力,提出了一种结合一致性算法和力学作用公式的DMPC构建方法。该方法将一致性算法引入至成本函数,并将成本函数改进为分段式,以提高系统稳定性;将力学作用公式引入成本函数,使该方法具有规避障碍的功能。最后通过设计实验验证该方法有效性。与PID算法和结合力学作用公式DMPC相比,本文提出方法收敛速度更快,收敛误差更小;与结合一致性算法DMPC相比,本文方法可以规避障碍。因此,本文提出的DMPC构建方法能解决多机器人编队的队形保持问题和规避障碍问题。更多还原

【Abstract】 Aiming at the problem of formation maintenance and obstacle avoidance in multi-robot formation, the widely used PID control method is difficult to deal with this kind of multi-constraint and high nonlinearity. In this paper, from the perspective of improving the cost function of distributed model predictive control(DMPC), the gravity and repulsion in physics are introduced, and a DMPC construction method combining consensus algorithm and mechanical action formula is proposed. In this method, the consensus algorithm is introduced into the cost function, and the cost function is improved to be piecewise to improve the system stability; The mechanical action formula is introduced into the cost function, so that this method has the function of evading obstacles. Finally, the effectiveness of the method is verified by design experiments. Compared with PID algorithm and DMPC combined with mechanical action formula, the proposed method has faster convergence speed and smaller convergence error. Compared with the consensus algorithm DMPC, this method can avoid obstacles. Therefore, the DMPC construction method proposed in this paper can solve the formation maintenance problem and obstacle avoidance problem of multi-robot formation.更多还原