嵌套运动饱和下分布式多移动机器人反振荡安全编队控制  

Distributed Multi-mobile Robot Anti-oscillation Safety Formation Control With Nested Motion Saturation

作　　者：郑志 江涛 杨玥 苏晓杰[1] ZHENG Zhi;JIANG Tao;YANG Yue;SU Xiao-Jie(School of Automation,Chongqing University,Chongqing 400044;College of Information and Control Engineering,Xi'an University of Architecture and Technology,Xi'an 710311)

机构地区：[1]重庆大学自动化学院,重庆400044 [2]西安建筑科技大学信息与控制工程学院,西安710311

出　　处：《自动化学报》2025年第3期658-668,共11页Acta Automatica Sinica

基　　金：国家自然科学基金(62173051,62106027,62306228);陕西省重点研发项目(2024GX-YBXM-132)资助。

摘　　要：运动受速度和加速度嵌套饱和约束,而反应式躲避安全机制下分布式编队互联的移动机器人更易触发该嵌套饱和,从而引起编队的剧烈振荡,所以需要研究该情况下多移动机器人平滑安全协同及其自适应振荡抑制方法.故以分布式网络中的移动机器人为研究对象,首先构建基于视线和速度的低触发势能函数,实现邻近编队机器人近距排斥作用下的避碰保持;引入驱动机器人绕过障碍物的安全加速度包络,并复合近距排斥的弱能量、低触发势能,避免与非合作障碍物的碰撞.其次,嵌入复合自适应辅助动态系统,平滑躲避过程中触发的嵌套运动饱和与安全加速度约束引起的轨迹振荡;设计复合非线性反馈框架下的分布式编队控制器,融合混合的躲避和振荡抑制机制,实现多机器人障碍环境下的安全编队.最后,与现有安全编队方法进行对比仿真和实验验证,结果表明该方法在嵌套运动饱和约束下可显著提升编队的平滑和安全性能.The motion is constrained by nested saturation of velocity and acceleration.Under the reactive avoidance safety mechanism,distributed formation-connected mobile robots are more likely to trigger this nested saturation,causing severe formation oscillations.Thus,it is necessary to study smooth and safe coordination and adaptive oscillation suppression methods for multi-mobile robots under these conditions.Therefore,Mobile robots in a distributed network are taken as the research subjects.Initially,a low-trigger potential function based on line-ofsight and velocity is constructed,enabling collision avoidance while maintaining proximity under the repulsive action of nearby formation robots;A safety acceleration envelope that allows robots to navigate around obstacles is introduced,and it is combined with low-power,low-trigger potential for close-range repulsion,avoiding collisions with non-cooperative obstacles.Secondly,a composite adaptive auxiliary dynamic system is embedded to smooth the trajectory oscillations caused by nested motion saturation and safety acceleration constraint triggered during the smoothing evasion process;A distributed formation controller under a composite nonlinear feedback framework is designed,integrating composite evasion and oscillation suppression mechanisms to achieve safe formation of multiple robots in an obstacle environment.Finally,comparative simulations and experimental validations with existing safe formation methods are conducted,and the results demonstrate that this method can significantly enhance the smoothness and safety performance of the formation under nested motion saturation constraints.

关 键 词：分布式移动机器人编队 嵌套运动饱和 动态安全围栏 低触发势能函数 自适应振荡抑制 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]