Leader-Followers多机器人编队控制方法  

Leader-Followers Formation Control Method for Multi-Robots

作　　者：韩青[1] 张常亮[1] 

机构地区：[1]西北工业大学机电学院,陕西西安710072

出　　处：《机床与液压》2017年第9期1-4,22,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51475383;51075337);云南省科技厅资助项目(2013FD062)

摘　　要：提出一种Leader-Followers多机器人编队控制方法。该方法利用距离-角度(l-φ)控制方案,仅利用跟随机器人(Followers)观测(Leader)领航机器人的纯角度信息,并利用无迹卡尔曼滤波算法对Leader-Followers多机器人系统的状态进行估计,根据状态估计结果设计了输入-输出反馈控制规律使得跟随机器人(Followers)准确跟踪(Leader)领航机器人,使多机器人快速形成编队,并确保了编队的稳定性,达到理想的编队控制效果。仿真验证了该方法的有效性。A formation control method for multi-robots was proposed. The method made use of distance-angle （l-φ ） control, bearing-only information of the followers observing the leader, and the unscented Kalman filter （UKF） was employed to estimate the states of leader-followers system. The results were used for follower-robots movement control via the input-output feedback control law which could make the follower-robots to accurately track the leader-robot, so that stability and rapidity of the robot formation were en-sured and the desired formation of the robots was achieved. Simulation results are presented to verify the effectiveness of the approach.

关 键 词：多机器人 编队控制 无迹卡尔曼滤波 输入-输出反馈 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]