一类非完整移动机器人编队控制方法  

Formation control for a kind of nonholonomic mobile robots

作　　者：张瑞雷[1] 李胜[1] 陈庆伟[1] 

机构地区：[1]南京理工大学自动化学院,南京210094

出　　处：《控制与决策》2013年第11期1751-1755,共5页Control and Decision

基　　金：国家自然科学基金项目(60975075;61074023)

摘　　要：针对大部分两轮非完整移动机器人轮轴中心与几何中心不重合的特点,提出一种多机器人协调编队控制算法.构造队形参数矩阵确定编队形状,根据领航机器人和相关队形参数生成虚拟机器人,把编队控制分解为跟随机器人对虚拟机器人的轨迹跟踪.建立虚拟机器人与跟随机器人之间误差系统模型,利用Lyapunov理论设计相应控制器,从而实现队形保持和变换.应用microsoft robotics developer studio 4(MRDS4)搭建3D仿真平台,设计3组实验,结果进一步验证了所提出方法的有效性.For the problem that the wheel-axle center and the geometric center of the most nonholonmic mobile robot are noncoincidence, the formation coordination control algorithm is proposed in this paper. The shape of formation is determined by the parameter matrix and the virtual robot is generated according to the lead robot and related formation parameters, translating the formation control problem into the trajectory tracking problem between the follow robot and virtual robot. The error system model between two robots is built, and the control algorithm is designed by using the Lyapunov theory for the formation keeping and transforming. Three groups of experiment are designed by the microsoft robotics developer studio 4, and the simulation results show the effectiveness of the presented method.

关 键 词：非完整移动机器人 轨迹跟踪 编队控制 队形变换 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]