有限时间内非完整移动机器人编队控制  

Formation Control of Non-HolonomicWheeled Mobile Robot in Finite Time

作　　者：乔磊 李宗刚[1,2] 杜亚江[1,2] QIAO Lei;LI Zonggang;DU Yajiang(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Robotics Institute,School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China)

机构地区：[1]兰州交通大学机电工程学院,兰州730070 [2]兰州交通大学机电工程学院机器人研究所,兰州730070

出　　处：《计算机工程与应用》2023年第13期74-81,共8页Computer Engineering and Applications

基　　金：国家自然科学基金(61663020);甘肃省高等学校科研项目成果转化项目(2018D-10);兰州交通大学“百人计划”项目(1520220305);兰州交通大学军民融合创新团队培育基金(JMTD202211)。

摘　　要：使得编队形状保持完整是多机器人编队在各种各样的环境下正常工作的重要前提,针对该问题提出了一种在领导—跟随框架下多个非完整移动机器人在有限时间内基于距离的编队控制策略,其中目标编队假设是最低限度刚度并且是极小刚度的。由于仅有部分跟随者能够直接获取领导者的信息,因此为跟随者设计了一个分布式速度估计器用来估计领导者的速度信息,并在有限时间内使得领导者与跟随者的速度达到一致。提出了一种编队控制算法使得机器人能够达到期望的编队形状;证明了在局部坐标系下分布式速度估计器和编队控制器都能够发挥作用;通过仿真分析验证了所提算法的可行性。Keeping the formation shape intact is an important prerequisite for multi-robot formation to work normally in various environments.To solve the problem,this paper proposes a distance-based formation control strategy for multiple nonholonomic mobile robots in leader-follow framework in finite time,in which the target formation is assumed to be minimal and infinitesimally rigid.Since only part of the followers can directly obtain the leader's information,a distributed velocity estimator is designed for the followers to estimate the leader’s velocity.Meanwhile,the leader and the follower’s velocity can reach the consensus within a finite time.Besides of this,a formation control law is proposed to achieve the desired formation shape.In addition,it is proved that both distributed velocity estimator and formation controller can play a role in the local coordinate.Finally,the feasibility of the proposed algorithm is verified by simulation analysis.

关 键 词：非完整移动机器人 基于距离控制 多机器人系统 编队控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]