基于速度补偿算法的多机器人编队控制研究  

Research on Multi-robot Formation Control Based on Speed Compensation Algorithm

作　　者：张方方 张文丽 王婷婷 ZHANG Fangfang;ZHANG Wenli;WANG Tingting(School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, China)

机构地区：[1]郑州大学电气工程学院,河南郑州450001

出　　处：《郑州大学学报（工学版）》2022年第2期1-6,14,共7页Journal of Zhengzhou University（Engineering Science）

基　　金：国家自然科学基金资助项目(61603345,61703372,61773351);河南省青年托举人才项目(GZS2019008)。

摘　　要：为解决传统领航-跟随算法在多机器人系统编队控制中算法复杂及普通编队控制律较难完成多机器人圆形编队的问题,通过对传统的领航-跟随算法进行改进,将多机器人的编队问题转化为机器人之间的跟踪控制问题,提出了一种基于位置信息的速度补偿算法,并将其用于多机器人编队。首先建立了速度补偿算法机器人编队控制模型,利用跟随机器人与虚拟机器人之间的位姿误差,设计了编队控制律,并从理论上证明了所设计的控制律能够完成多机器人编队任务;然后在研究多机器人编队问题的基础上进一步研究了多机器人编队过程中的避障问题,引入了经典的人工势场法,并将人工势场法与速度补偿算法进行结合,结合后的算法可使得多机器人系统在行进过程中维持编队运行,并且能够防止系统内机器人相互碰撞,自适应地避开周围环境中的障碍物;最后将所提算法在多机器人仿真和实物平台上进行实验验证。结果表明:多机器人不仅能够高效率地完成编队任务而且在遇到障碍物时能够成功避障,该算法减少了调用参数的数量,简化了编队算法,提高了编队效率。In order to solve the problems of complex algorithm of traditional leader-follower method in formation control of multi-robot system and difficulty in completing circular formation of multi-robot system with common formation control law,the formation problem of multi-robot system was transformed into tracking control problem among robots by improving the traditional leader-follower method,and a velocity compensation algorithm based on position information for multi-robot formation was proposed in this study.The formation control model of robot with velocity compensation algorithm is established,and the formation control law was designed based on the pose error between the following robot and the virtual robot,and it is proved theoretically that the proposed control law could complete the multi-robot formation task.Then,on the basis of studying the multi-robot formation problem,the obstacle avoidance problem in the multi-robot formation process is further studied.The classical artificial potential field method was introduced,and the artificial potential field method was combined with the speed compensation algorithm of this study.The combined algorithm could enable the multi-robot system to maintain formation operation,and not only preventing the robots in the system from colliding with each other,but also adaptively avoiding obstacles in the surrounding environment.The results showed that multi-robots could not only complete the formation task efficiently but also successfully complete the obstacle avoidance task when encountering obstacles.Finally,the proposed algorithm was verified by experiments on multi-robot simulation and physical platform.The algorithm could reduce the number of calling parameters,simplified the formation algorithm,and improve the formation efficiency.

关 键 词：领航-跟随算法 速度补偿算法 跟踪控制 编队避障控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]