移动机器人分段式安全自重构组合控制  

Segmented secure self-reconfiguration control for mobile robots

作　　者：郑志 江涛 王健翔 于忠良 王大涛 ZHENG Zhi;JIANG Tao;WANG Jian-xiang;YU Zhong-liang;WANG Da-tao(College of Automation,Chongqing University,Chongqing 401121,China;Chongqing Institute of Surveying and Mapping Science and Technology,Chongqing 401121,China)

机构地区：[1]重庆大学自动化学院,重庆401121 [2]重庆市测绘科学技术研究院,重庆401121

出　　处：《控制与决策》2025年第3期996-1004,共9页Control and Decision

基　　金：国家自然科学基金项目(62106027);中国博士后科学基金项目(2023M731913);重庆市自然科学基金面上项目(CSTB2022NSCQ-MSX1615).

摘　　要：自重构是促进移动机器人能力升级和涌现的重要手段,但是,面向工程开放场景存在定位基准与感知特性差异、环境障碍威胁、感知范围约束以及嵌套运动饱和等应用性挑战.基于组合任务分解和不同基准感知特性,提出惯性系定位下远距集结和载体系感知下近距对接的分段式通用控制框架:在远距范围,设计分层安全约束机制和自适应抗饱和策略,实现移动机器人在障碍环境中的平滑、安全集结;在近距阶段,引入基于安全视线的轨迹修正策略和复合非线性收敛控制形式,确保移动机器人在视线范围内快速、平稳地完成与待对接目标的锁紧组合.最后,通过物理实验验证所提出方案的有效性和可行性,方法通用成果也为无人系统充电、水下运载器回收等工程对接场景提供了新的解决思路.Self-reconfiguration is a critical means to promote the upgrading and emergence of capabilities in mobile robots.However,engineering open scenarios present challenges such as differences in positioning benchmarks and perception characteristics,environmental obstacles,perception range constraints,and nested motion windups.This paper proposes a segmented universal control framework based on composite task decomposition and different benchmark perception characteristics,focusing on long-distance assembly under inertial localization and short-distance docking under carrier-based perception.In the long-distance range,a hierarchical safety constraint mechanism and an adaptive anti-windup strategy are designed to achieve smooth and safe assembly of mobile robots in obstacle environments.In the short-distance phase,adaptive trajectory correction strategies based on safety line of sight and composite nonlinear feedback convergence control forms are introduced to ensure rapid and stable locking combinations with the docked target within the line of sight range.Finally,the effectiveness and feasibility of the proposed approach are validated through physical experiments,and the universal nature of the method provides new solutions for engineering docking scenarios such as unmanned system charging and underwater carrier recovery.

关 键 词：移动机器人自重构 分段控制 自适应抗饱和 分层安全约束 自适应轨迹修正 复合非线性反馈 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]