基于激光传感探测技术的多机器人编队协调控制研究  

Coordinated control of multi-robot formations based on laser sensing detection technology

作　　者：邢静宜[1] XING Jingyi(School of Mechanical Engineering,Inner Mongolia University of Science and Technology,Baotou Inner Mongolia 014010,China)

机构地区：[1]内蒙古科技大学机械工程学院,内蒙古包头014010

出　　处：《激光杂志》2022年第3期195-199,共5页Laser Journal

基　　金：内蒙古自治区自然科学联合基金项目(No.2018LH05028)。

摘　　要：传统编队协调控制方易产生部分路径数据丢失,机器人产生方向角误差大,为此设计基于激光传感探测技术的多机器人编队协调控制方法。利用激光传感探测技术获取机器人路径数据,采用一致性数值关系更新获取得到的路径数据,设定分散参数控制路径数据发生丢失,制定机器人编队规则,积分处理机器人在行驶路径上产生的滑面,设计机器人终端协调控制策略,最终完成编队协调控制过程。测试结果表明:编队协调控制方法产生的方向角误差在0.2°左右,其他对比方法的方向角误差在0.5°以上,误差偏大,因此,本方法更完善。Traditional formation coordination control method is easy to cause partial path data loss, and robot has large direction angle error. Therefore, a multi-robot formation coordination control method based on laser sensor detection technology is designed. The laser sensor detection technology is used to obtain robot path data, and the consistent numerical relationship is used to update obtained path data. The decentralized parameters are set to control path data loss, the robot formation rules are formulated, the sliding surface generated by robot on driving path is integrated, and robot terminal coordination control strategy is designed to complete formation coordination control process. The test results show that the azimuth error of formation coordinated control method in this paper is about 0.2° and that of other comparison methods is more than 0.5° with large error, so the method in this paper is more perfect.

关 键 词：激光传感探测技术 多机器人编队 协调控制 路径数据 

分 类 号：TN129[电子电信—物理电子学]