基于领航跟随法和星系动力学的多机器人编队控制  

Multi-robot Formation Control Using Leader-follower Mode and Galactic Dynamics

作　　者：高杨[1] 张华飞[1] 

机构地区：[1]厦门大学信息科学与技术学院,福建厦门361005

出　　处：《厦门大学学报（自然科学版）》2013年第1期14-18,共5页Journal of Xiamen University：Natural Science

摘　　要：针对机器人常规编队控制方法编队精度低、机器人易掉队,且当队形进行大角度变换时跟随者不能快速适应的问题,提出了一种基于领航跟随和星系动力学(LF-GD)机器人编队控制方法.该方法结合了领航跟随法控制简单、编队快速和星系动力学法编队稳定和动态均衡的优点.实现了机器人快速编队和动态避障的性能要求,避免了队形大角度变换时机器人相互之间的碰撞和掉队问题,提高了整个编队系统的智能性和环境适应性.通过仿真验证了该方法的可行性和有效性.This paper proposed a novel multi-robot formation control method based on leade-follower mode and galactic dynamics （LF-GD） ,since the conventional formation control methods always have low precision and make the robots he prone to lag behind, furthermore,cannot manage the follower-robots response quickly to adapt to the large angle formation transformation. LF-GD forma- tion control method takes the full advantages of the leader-follower mode which is easy to control and rapid-formation,at the same time,combined with the galactic dynamics formation method which is stable and dynamic equilibrium. Thus the rapid formation and dynamic-collision avoidance can be realized,in addition, prevents the collision and straggling when the large angle formation transfor marion happens. Moreover,the intelligence and environmental adaptation of the system have been enhanced. Simulation results dem- onstrated the feasibility and validity of the presented method.

关 键 词：领航跟随法 星系动力学 编队控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]