连通性保持下的多机器人系统分布式群集控制  

Decentralized flocking of multi-robot systems with connectivity maintenance

作　　者：毛昱天[1,2] 陈杰[1,2] 方浩 窦丽华[1,2] 

机构地区：[1]北京理工大学自动化学院 [2]复杂系统智能控制与决策国家重点实验室,北京100081

出　　处：《控制理论与应用》2014年第10期1393-1403,共11页Control Theory & Applications

基　　金：国家自然科学基金重大国际合作项目(61120106010);国家自然科学基金面上项目资助项目(61175112);国家杰出青年科学基金资助项目(60925011);基金委创新研究群体资助项目(61321002);教育部长江学者创新团队资助项目(IRT1208);北京市优秀博士学位论文指导教师科技资助项目(20131000704)

摘　　要：多机器人系统群集控制中的连通性保持对于系统的稳定性和状态收敛的快速性具有重要影响.本文在初始通信网络拓扑为强连通非平衡图的条件下,研究具有非完整约束运动学模型的多轮式移动机器人系统群集运动中的连通性保持控制问题.首先,构造了一类新颖的光滑有界的人工势场函数,该类函数可以同时满足连通性保持、碰撞规避和相对距离镇定等任务需求.进一步,将基于势函数梯度的控制策略与一致性控制机制有机结合,在系统中存在和不存在领航者的条件下,分别设计出一类具有连通性保持功能的光滑有界的分布式群集控制协议,不仅可有效避免不连续/非光滑控制器所固有的抖振现象以及执行器饱和问题,而且实现了将传统群集控制中的连通性保持算法从个体运动模型和系统通信拓扑类型两个方面同时加以拓展.最后,仿真结果和实验结果验证了本文所提出的光滑有界群集控制算法的有效性.Connectivity maintenance of flocking is vital for stability and fast state convergence of the entire multirobotsystem. To this end, the problem of flocking of multiple nonholonomic wheeled mobile robots with connectivity main-tenance on directed communication graphs is investigated, provided that the initial network is strongly connected but notbalanced. First, a new class of smooth and bounded artificial potential fields is developed to satisfy the requirements of con-nectivity maintenance, collision avoidance and distance stabilization, simultaneously. Furthermore, by combining potential-based gradient control techniques and the consensus seeking control schemes, we propose a set of smooth and boundedcontrol protocols for leaderless flocking or flocking with local leader-follower with connectivity maintenance. Those con-trol protocols not only avoids the chattering and saturation caused by the discontinuous/nonsmooth and unbounded flockingalgorithms, but also extend the traditional connectivity-preserving flocking algorithms for both the individual motion modeland the network topology types. Finally, nontrivial simulations and experiments are performed to validate the effectivenessof the proposed smooth and bounded control strategies.

关 键 词：多机器人系统 分布式控制 群集 连通性保持 有向图 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]