基于慧鱼模型的多移动机器人编队避障控制算法研究与实验  

Research and Experiment on Obstacle Avoidance Control Algorithm of Multi-mobile Robot Formation Based on Fischer Model

作　　者：朱晓林[1] 高诚辉[1] 洪玫[1] ZHU Xiaolin;GAO Chenghui;HONG Mei(College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]福州大学机械工程及自动化学院,福州350108

出　　处：《实验室研究与探索》2023年第2期135-141,共7页Research and Exploration In Laboratory

基　　金：国家自然科学基金项目(51875106);教育部产学合作协同育人项目(201802108028)。

摘　　要：针对多移动机器人编队避障控制问题,提出一种适用于动、静态障碍环境中的编队避障控制算法。采用慧鱼模型搭建领航跟随多移动机器人系统模型,通过慧鱼ROBO Pro编程软件,实现编队避障控制程序设计,并完成了避障实验,验证了避障算法的有效性。通过该算法的研究,可为未知环境下多移动机器人编队控制研究提供参考,将其应用到实验教学中,可开发出“两性一度”实验,更好地服务于学校“双一流”建设。To solve the problem of formation obstacle avoidance control for multi-mobile robots,a formation obstacle avoidance control algorithm is proposed for the dynamic and static obstacle environment.The system model of leader-following multi-mobile robot is built by using the Fischer model.Through the control software ROBOPro,the formation obstacle avoidance control program is designed,and the obstacle avoidance experiment is completed in the real environment,which verifies the rationality of the obstacle avoidance algorithm.The algorithm can provide a reference for the research of multi-mobile robot formation control in unknown environment.When it is applied to experimental teaching,the“two characteristics and one challenge”experiment can be developed to better serve the“double first-class construction”of the school.

关 键 词：慧鱼模型 多移动机器人 领航跟随 避障控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]