基于持久图的双轮机器人编队生成与控制  

Generation and Control of Wheeled Robots Formation Based on Persistent Graph Theory

作　　者：刘春[1] 宗群[1] 窦立谦[1] 

机构地区：[1]天津大学电气与自动化工程学院,天津300072

出　　处：《控制工程》2017年第3期518-523,共6页Control Engineering of China

基　　金：国家自然科学基金重大研究计划培育项目(91016018);天津市应用基础及前沿技术研究计划(11JCZDJC25100)

摘　　要：针对有向刚性图即持久图在双轮机器人编队中的应用,研究了将持久队形生成与势场函数控制相结合的编队形成方法。首先,基于Henneberg序列有向操作生成持久编队队形,同时对Leader-Follower队形中的第一跟随者和普通跟随者分别设计势场函数,并结合双轮机器人的非完整性的设计速度输出,完成队形控制;通过持久图与势场函数的有效结合,可以使得双轮机器人在简捷的通讯下完成刚性队形的形成、保持与变换。最后,利用Player/Stage平台仿真验证所提理论的有效性。This paper studies how to combine the persistent graph and potential field functions in robot formation on account of applying the directed graph theory into two-wheel robot formation. Firstly, operations based on Henneberg sequence are studied to generate persistent formation. Then this paper designs potential field functions respectively for the first follower and ordinary followers in the Leader-Follow formation, and designs the velocity output based on wheeled robots＇ nonholonomic restriction. Finally, on the robot simulation platform Player/Stage, using wheeled robot model Pioneer, the generation, persistence, and topological transformation of the formation are simulated, and the feasibility of the proposed theory is verified.

关 键 词：持久编队 Henneberg序列 势场函数 非完整性 

分 类 号：TP27[自动化与计算机技术—检测技术与自动化装置]