基于领航-跟随法的多机器人编队控制  

Multi-robot Formation Control Based on Pilot-following Method

作　　者：熊勇刚[1] 付茂林 李波 姚焘 张锐 Xiong Yonggang;Fu Maolin;Li Bo;Yao Tao;Zhang Rui(School of Mechanical Engineering,Hunan University of Technology,Zhuzhou,Hunan 412007,China;Beijing Iron Man Technology Co.Ltd.,Beijing 100089,China)

机构地区：[1]湖南工业大学机械工程学院,湖南株洲412007 [2]北京钢铁侠科技有限公司,北京100089

出　　处：《机电工程技术》2024年第3期136-141,共6页Mechanical & Electrical Engineering Technology

基　　金：湖南省重点领域研发计划基金资助项目(2022JJ50078);教育部创新基金(2021JQR206)。

摘　　要：编队控制是多机器人系统研究的核心问题之一,具有广泛的研究价值。针对编队问题,通过对轮式差分驱动机器人运动模型进行分析,并设计相应的控制器。在传统的领航-跟随模型上,引入“虚拟机器人”,将跟随者机器人对领航者机器人的轨迹跟踪转换为跟随者对“虚拟领航者”的轨迹跟踪。首先,预设定实际领航者机器人的行进路径,由实际领航者引导运动方向的运动轨迹被视为主轨迹,虚拟机器人通过数据产生参考点从而生成参考轨迹,跟随者机器人通过对参考轨迹的跟踪与“虚拟领航者”构成轨迹误差跟踪系统。然后通过Lyapunov的控制理论验证控制器的理论可行性,最后在MATLAB/Simulink仿真平台进行实验,通过改变控制参数来使机器人形成相应的期望队形,在较短的时间内,跟随机器人对参考轨迹的跟踪误差趋向于0且速度收敛,验证了编队系统的可行性。Formation control is one of the core problems in the research of multi-robot systems,which has extensive research value.Aiming at the formation issue,the motion model of differential wheel driven robot is analyzed and the corresponding controller is designed.In the traditional pilot-following model,a"virtual robot"is introduced,and the track tracking of the follower robot to the leader robot is transformed into the track tracking of the follower to the virtual leader.First,the travel path of the actual leader robot is pre-set,and the movement trajectory guided by the actual leader is regarded as the main trajectory.The virtual robot generates reference points through data to generate reference trajectory,and the follower robot forms a track error tracking system by tracking the reference trajectory with the"virtual leader".Then,the theoretical feasibility of the controller is verified by Lyapunov's control theory.Finally,simulation experiments are carried out in MATLAB/Simulink platform.By changing the control parameters,the robot forms the corresponding expected formation.The feasibility of the formation system is verified.

关 键 词：差分驱动 多机器人编队 领航-跟随法 误差跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]