A Dynamic Regulation and Scheduling Scheme for Formation Control  

作　　者：CHEN Yu-Qing ZHUANG Yan WANG Wei 

机构地区：[1]Research Center of Information and Control, Dalian University of Technology, Dalian 116024, P. R. China

出　　处：《自动化学报》2007年第6期628-634,共7页Acta Automatica Sinica

基　　金：National Natural Science Foundation of P. R. China (60605023);Scientific Research Foundation Conducted by Dalian University of Technology and Shenyang Institute of Automation,Chinese Academy of Sciences

摘　　要：这篇文章在某些几何限制在整个他们的旅行在多重活动机器人上被强加的 nonholonomic 限制下面在活动机器人的形成涉及合作控制问题。为这个目的，为形成的运动控制的一个新方法被介绍，它基于动态规定和安排计划。它为它到形成结构的适应性是吸引人的并且需要轨道。形成保留的质量能被形成偏移量和间距距离的即时错误评估。一些 kinematics 法律被开发调整并且维持形成形状。模拟结果和数据分析为一组机器人显示出建议途径的有效性。This article is concerned with cooperative control problems in formation of mobile robots under the nonholonomic constraints that certain geometrical constraints are imposed on multiple mobile robots throughout their travel. For this purpose, a new method of motion control for formation is presented, which is based on the dynamic regulation and scheduling scheme. It is attractive for its adaptability to the formation structure and desired trajectory. The quality of formation keeping can be evaluated by the instantaneous errors of formation offset and spacing distance. Some kinematics laws are developed to regulate and maintain the formation shape. Simulation results and data analysis show the validity of the proposed approach for a group of robots.

关 键 词：合作控制 移动式遥控装置 几何约束 动态调节 不完全约束 队形保持 时序调度 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]