参数自适应的多机器人协作搬运控制  

Adaptive Parameter Control of Muti-Mobile Robot Cooperation Transportation

作　　者：赵蕾磊 张琛 ZHAO Lei-lei;ZHANG Chen(Nanjing Chenguang Group Co.,Ltd.,Jiangsu Jinling Institute of Intelligent Manufacturing Co.,Ltd.,Nanjing 210000)

机构地区：[1]中国航天科工南京晨光集团江苏金陵智造研究院,江苏南京210000

出　　处：《制造业自动化》2025年第4期19-30,共12页Manufacturing Automation

基　　金：南京市重大科技专项(202209004)。

摘　　要：提出了一种全局定位与协作定位复合的多移动机器人协作转运系统。基于领航-跟随的控制方式,领航单元沿全局坐标下已规划路径运行;为减少运动冲击,领航单元速度变动进行高次曲线规划。跟随单元根据实时变动的领航单元速度输入与可安装在任意位姿的传感器相对位姿检测输入,结合队形约束计算控制输出;为优化编队运动性能,采用神经网络的方式计算其速度控制参数。搭建5G网络并对编队信息分类,实现了控制数据的稳定传递。使用由三台全向移动机器人构成的试验平台进行试验,试验验证了所提出通信模式与控制方法的可行性与有效性。In astronautics manufacturing industries,muti-robot cooperation for transporting massive and largesized workpieces improves transportation flexibility and adaptability.By combining global and cooperative locating information,a multi-robot cooperative transport system based on leader-follower formation control is proposed.The leader robot tracks the trajectory according to the points searched in path set,and speed is planned by the cubic curve to reduce the impact caused by pose deviation.Speed commands sent to followers are calculated according to the relative deviation and speed feedback from the leader.The relative deviation is calculated by using the data measured by lidars installed on the followers.Considering the dynamic input of the follower at each control period,back propagation neural network(BPNN)is used to calculate the speed control parameters.Formation control data are transmitted by 5th generation mobile networks(5G)due to its large bandwidth,low latency,ultrareliable connection,and multiservice slicing capacities.An experimentation platform with three omnidirectional mobile robots is established,and the experiment result shows the high stability of entire formation work by using the control method.

关 键 词：多移动机器人 协作转运 轨迹跟踪 参数自适应 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]