基于改进的领导-跟随者编队算法研究  

Research on improved leader-following formation method

作　　者：张晓琴[1] 黄玉清[1] 刘刚[1] 

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010

出　　处：《计算机工程与设计》2010年第11期2547-2549,共3页Computer Engineering and Design

基　　金：国防基础科研基金项目(A3120060264)

摘　　要：针对领导-跟随者算法的不足,提出了基于先驱者的多机器人编队控制方法。先驱者采用SLAM方法规划编队行进轨迹的关键点,领导者则根据关键点和环境信息,调整运动轨迹,并计算与跟随者间的相互距离和夹角,决定跟随者的实时位姿。当编队队形遇障不能通过时,采用基于逻辑层次的变换策略进行队形变换。同时在Player/Stage仿真平台上,对算法进行了比较和分析,实验结果表明,改进的领导-跟随者算法能更好的保证编队队形的完整性和编队系统的稳定性,控制效果较好。To overcome the shortage of the leader-following algorithm,a multi-robot formation control method based on the trailblazer is proposed.In our technique,a trailblazer adopts the SLAM method to plan the formation and pass through the key positions of the path.Then,according to the key positions and environmental information,the leader adjusts the trajectory and computes the distances and angles with the following,so as to decide the real-time locations and posture of the following.Besides,our technique employs a logical-level based transformation strategy to transform the formation once the formation cannot pass a barrier.We conduct experiments on the player/stage platform,the results show that our proposed leader-following algorithm has better control effect,it can not only further enhance the integrity of the formation,but also guarantee the stability of the formation system.

关 键 词：编队控制 领导-跟随者算法 ι-φ控制器 队形变换 多机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]