基于领航-跟随法的多机器人系统轨迹跟踪控制（英文）  

Formation Trajectory Tracking Control of Multi-robot System Based on Leader-follower

作　　者：陈梅[1] 丁明刚 郑涛[1] CHEN Mei;DING Ming-gang;ZHENG Tao(School of Electrical and Engineering and Automation,Hefei University of Technology,Hefei 230001,China)

机构地区：[1]合肥工业大学电气与自动化工程学院,合肥230001

出　　处：《控制工程》2019年第1期37-42,共6页Control Engineering of China

摘　　要：建立了非完整约束移动机器人模型,对其轨迹跟踪问题和队形控制问题进行了讨论。依据Lyapunov稳定性理论和领航-跟随法分别设计了领航机器人跟踪希望轨迹的控制律和跟随机器人保持一定队形跟踪领航机器人的控制律。提出了一种多机器人系统的队形轨迹跟踪控制方法。仿真结果表明了应用所设计的多机器人队形轨迹跟踪控制律,各机器人能够较快地形成希望队形,并按希望队形跟踪希望轨迹,验证了此控制方法的有效性。The model of the nonholonomic constraint mobile robot is established,and the problems of trajectory tracking control and formation control are discussed. The control laws for the leader robot to track the desired trajectory and the follower robots to follow the leader robot with a certain formation are designed based on Lyapunov theory and the leader-follower method.Thus a formation trajectory tracking control method of the multi-robot system is proposed. The simulation results indicate that the formation trajectory tracking control method helps every robot form a desired formation promptly and then track the desired trajectory with the formation.

关 键 词：多机器人系统 队形轨迹跟踪 LYAPUNOV函数 领航-跟随 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]