基于人工势场法的多机器人编队避障控制研究  

Research on Obstacle Avoidance Control of Multi-robot Formation Based on Artificial Potential Field Method

作　　者：陈礼杰 李宏峰 张泰 CHEN Lijie;LI Hongfeng;ZHANG Tai(School of Mechanical and Electrical Engineering,Beijing Institute of Graphic Communication,Beijing 102600,China)

机构地区：[1]北京印刷学院机电工程学院,北京102600

出　　处：《北京印刷学院学报》2024年第3期15-21,共7页Journal of Beijing Institute of Graphic Communication

基　　金：北京印刷学院学院校级教学改革(创新重点)项目(20240027)研究成果。

摘　　要：针对多机器人编队在无障碍物环境中的队形保持、有障碍物环境下的自主避障问题,提出了一种领航—跟随法(Leader-follower)与人工势场法(APF)相结合的编队协同避障控制混合算法。通过建立两轮机器人的运动模型,对传统人工势场法进行改进,建立虚拟斥力旋转势场,解决局部最小值问题,改进跟随者受引力的方式,以保证机器人的前后相对位置关系在障碍物环境中保持稳定,最后提出一种编队协同避障控制混合算法。仿真结果表明,在该算法下机器人编队能够实现在无障碍物环境中保持理想队形并在避障结束后迅速恢复理想队形。Aiming at the problem of formation maintenance and autonomous obstacle avoidance of multi-robot formation in obstruction-free environment,a hybrid control algorithm of formation cooperative obstacle avoidance based on leader-follower method and artificial potential field method was proposed.By establishing the motion model of the two-wheeled robot,the traditional artificial potential field method is improved,the virtual repulsive rotation potential field is established,the local minimum problem is solved,and the way of the followersgravitational attraction is improved to ensure that the relative position relationship between the front and back of the robot remains stable in the obstacle environment.Finally,a hybrid algorithm of formation cooperative obstacle avoidance control is proposed.The simulation results show that the robot formation can maintain the ideal formation in an obstacle-free environment and quickly recover the ideal formation after obstacle avoidance.

关 键 词：编队避障 领航—跟随法 人工势场法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]