微小型移动机器人的路径规划及编队研究  

Path Planning and Formation Research of Micro Mobile Robots

作　　者：李江昊[1] 闫亚楠 彭丹[2] LI Jiang-hao;YAN Ya-nan;PENG Dan(School of Information Science and Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;College of Science,Yanshan University,Qinhuangdao,Hebei 066004,China)

机构地区：[1]燕山大学信息科学与工程学院,河北秦皇岛066004 [2]燕山大学理学院,河北秦皇岛066004

出　　处：《计量学报》2021年第4期445-450,共6页Acta Metrologica Sinica

基　　金：河北省自然科学基金(F2018203370)。

摘　　要：针对微小型移动机器人的路径寻优及编队问题,提出了路径规划与轨迹跟踪相结合的方法来实现多机器人的编队任务。首先提出了基于传统蚁群算法的改进算法,仿真结果证明,改进算法通过改进参数及初始信息素矩阵,使其收敛速度提高了50%,全局寻优能力提高了30%。其次设计了基于李雅普诺夫算法的轨迹跟踪控制器,仿真结果证明,其误差最终趋于0,验证了该控制器的稳定性。最后结合李雅普控制器和路径寻优算法,实现了多机器人在最优路径上的稳定编队。Aiming at the problem that micro-robot formation and path optimization tasks.A combination of path planning and trajectory tracking is proposed,and finally the formation task is realized.Firstly,an improved algorithm based on traditional ant colony algorithm is proposed.By improving parameters and the initial pheromone matrix of traditional ant colony algorithm,the simulation results show that the improved algorithm improves the convergence speed by 50%and the global optimization ability by 30%.Secondly,the tracking controller based on Lyapunov algorithm is designed.Through simulation,the error eventually reaches 0 and the stability of the controller is verified.Finally,combined with Lyapunov controller and path optimization algorithm,the stable formation of multi-robot on the optimal path is completed.

关 键 词：计量学 多机器人编队 路径优化 轨迹跟踪 蚁群算法 李雅普诺夫算法 

分 类 号：TB921[一般工业技术—计量学]