通讯受限条件下的机器人编队算法  

Robot formation algorithm with limited communication

作　　者：罗家祥[1] 关振峰 刘海明[1] 蔡鹤 高焕丽[1] 黄杰 LOU Jia-xiang;GUAN Zhen-feng;LIU Hai-ming;CAI He;GAO Huan-li;HUANG Jie(College of Automation Science and Technology,South China University of Technology,Guangzhou Guangdong 510640,China)

机构地区：[1]华南理工大学自动化科学与工程学院,广东广州510640

出　　处：《控制理论与应用》2021年第7期1091-1101,共11页Control Theory & Applications

基　　金：广东省科技厅基金项目(2020A1515011508,2017A040405025);中央高校基本科研业务费专项资金项目(2019MS140)资助。

摘　　要：针对通讯受限条件下大规模移动机器人编队任务,本文提出了基于行为的分布式多机器人线形编队控制和避障算法.机器人个体无需获得群体中所有机器人的信息,而是根据传感器获取的环境信息和局部范围内的机器人信息对其自身的调整方向进行预测,并最终很好地完成了设定的编队及避障任务.由于本文方法需求的通讯量不大,并且采用分布式控制,因此该方法适用于大规模的机器人集群编队任务.文中还给出了本系统的稳定性分析,证明了系统的稳定性.实验结果表明该算法使得机器人能够仅通过局部信息形成线形编队,在遇到障碍物后能够灵活避开障碍物,并且在避开障碍物进入安全区域后重新恢复线形编队.Aiming at the problem of large-scale mobile robot formation task with communication constraints,this paper proposes a behavior-based distributed multirobot linear formation control and obstacle avoidance algorithm.The individual robot does not need to obtain the information of all the robots in the group,but predicts its own adjustment direction according to the environmental information obtained by the sensor and the robot information in the local range,and finally completes the set formation and obstacle avoidance tasks well.Because the communication requirement of this method is small and distributed control is adopted,this method is suitable for large-scale robot formation task.The stability analysis of the system is given and the stability of the system is proved.The experimental results show that the algorithm can make the robot form linear formation only by local information,and can avoid colliding with obstacles flexibly,and resume the linear formation after entering the safe area.

关 键 词：移动机器人 编队控制 有限通讯 分布式控制 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]