基于Leader-follower与人工势场的多移动机器人编队控制  

Formation Control Based on the Method of Artificial Potential and the Leader-follower for Multiple Mobile Robots

作　　者：张凤[1] 孙哲[1] 刘美菊[1] 

机构地区：[1]沈阳建筑大学信息与控制工程学院,辽宁沈阳110168

出　　处：《沈阳建筑大学学报（自然科学版）》2010年第4期803-807,共5页Journal of Shenyang Jianzhu University：Natural Science

基　　金：住房和城乡建设部项目(2007-K8-7)

摘　　要：目的提出一种基于Leader-follower法和人工势场法相结合的多移动机器人编队控制方法,从而克服传统Leader-follower法中由微分方程确定的控制率无法将队形控制与避障统一的缺点.方法确定关于参数l和φ的人工势场函数,通过控制参数l和φ,使多移动机器人保持预定队形;机器人follower通过主动避障方法躲避障碍物,确定一个总的人工势场控制队形和避障.结果算法能使多移动机器人系统成功地进行编队和避障.结论通过仿真试验,机器人系统能够顺利通过狭窄通道,躲避静态障碍物和动态障碍物,并在避障后恢复队形,顺利到达目标,算法简单,从而验证了算法的有效性.A method of formation control based on the artificial potential and the Leader-follower for multiple mobile robots is proposed. It overcomes the disadvantages of traditional method that differential equation is difficult to control formation and avoid obstacles at the same time. First, it determines the potential function to control the parameters and to maintain scheduled formation. Second, the follower robots avoid obstacles initiatively. At last, determines total artificial potential field to control formation and avoid obstacles at the same time. The simulation verifies that the robots system can go through the narrow channel, avoid static and dynamic obstacles, and then resume the formation, and finally reach the goal. The simulation results verify the effectiveness of this method.

关 键 词：多移动机器人 编队控制 人工势场法 Leader—follower法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]