基于改进人工势场法的多机器人编队避障  

Obstacle Avoidance in Multi-robot Formation Based on Improved Artificial Potential Field

作　　者：付雷[1] 秦一杰 何顶新[1] 刘智伟[1] FU Lei;QIN Yi-jie;HE Ding-xin;LIU Zhi-wei(School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China)

机构地区：[1]华中科技大学人工智能与自动化学院,湖北武汉430074

出　　处：《控制工程》2022年第3期388-396,共9页Control Engineering of China

基　　金：国家自然科学基金资助项目(61973133)。

摘　　要：为解决多机器人系统在编队过程中的避障以及成员之间避碰问题,提出了基于改进人工势场(IAPF)的避障以及基于一致性的编队控制方法。为分析机器人的运动学,建立了数学模型,构造了运动态势感知图(MSAM),使机器人能够更好地感知周围环境信息以做出最佳决策;为解决人工势场法中的局部最小值与目标不可达(GNRON)问题,建立了旋转势场;为避免机器人之间的碰撞,设定了排斥势函数与机器人优先级模型。使用基于一致性的编队原理,设计稳定的拓扑结构,对多机器人进行编队控制。为证明所提算法的有效性,设计了一系列的仿真实验,最终证得该方法可有效解决多机器人系统在编队过程中的避障以及避碰问题。In order to solve the problems of obstacle avoidance and collision avoidance between members in the formation of multi-robot systems,the obstacle avoidance based on improved artificial potential field(IAPF)and the formation control method based on consistency are proposed.In order to analyze the kinematics of the robot,its mathematical model is established.The motion situation awareness map(MSAM)is constructed,so that the robot can better perceive the surrounding environment information to make the best decision.In order to solve the problems of local minimum and goal nonreachable with obstacles nearby(GNRON)in the artificial potential field method,a rotating potential field is established.In order to avoid collisions between robots,a repulsive potential function and robot priority model are set.The consistency-based formation principle is used to design a stable topology and control the formation of multiple robots.In order to prove the effectiveness of the proposed algorithm,a series of simulation experiments are designed.Finally,it is proved that the method can effectively solve the obstacle avoidance and collision avoidance problems of multi-robot system in the formation process.

关 键 词：多机器人 避障 改进人工势场 一致性编队 运动态势感知图 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]