基于领航跟随法的机器人可变队形编队控制  

Variable Formation Control of Multiple Wheeled Mobile Robots via Leader-follower Approach

作　　者：彭滔 陈延政 刘成军 PENG Tao;CHEN Yan-zheng;LIU Cheng-jun(College of Liangjiang Artifical Intelligence,Chongqing University of Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学两江人工智能学院,重庆400054

出　　处：《控制工程》2020年第8期1434-1439,共6页Control Engineering of China

基　　金：重庆市教委科学技术研究项目(KJ1709196)。

摘　　要：针对差速驱动轮式移动机器人的队形可变编队控制问题,首先基于领航跟随法将编队分解为领航机器人与跟随机器人对,控制任务转化为跟随机器人与领航机器人间的可变期望距离和角度的跟踪控制。然后通过定义控制状态误差变量在直角坐标系中导出误差控制模型,运用输入输出线性化方法设计了以驱动轮转速为控制输入的控制器,并编写了控制算法和绘制了控制器结构图。最后,利用仿真研究验证了所提控制器的有效性与合理性,通过对编队控制系统误差的渐近稳定,实现了实时编队控制目标。For variable formation control with of differential-driven wheeled mobile robots,first the formation is decomposed into leader robots and follower robots based on the leader-follower method,and the control task is converted into tracking control of a variable desired distance and angle between the follower robot and the leader robot.Then an error control model is established in the Cartesian coordinates by defining the state errors.A controller is designed using an input-output linearization method,a control algorithm is compiled and a controller structure diagram is drawn.Finally,simulation studies are included to demonstrate the correctness and effectiveness of the proposed method,and the formation control target has been achieved by the asymptotic stability of the formation control system errors.

关 键 词：多机器人编队 差分驱动 编队控制 领航跟随法 控制算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]