基于领航-跟随和Bendyruler的移动机器人集群系统研究  

Research on a Mobile Robot Swarm System Based on Leader-Follower and Bendyruler Strategies

作　　者：张曌 董鑫宇 姜鹏宇 刘鑫[4] 张燕[5,6] 单红 王庆 ZHANG Zhao;DONG Xinyu;JIANG Pengyu;LIU Xin;ZHANG Yan;SHAN Hong;WANG Qing(Jinling Institute of Technology,Nanjing 211169,China;Shanghai Maritime University,Shanghai 201306,China;Nanjing University of Posts and Telecommunications,Nanjing 210023,China;Harbin Engineering University,Harbin 150001,China;Jiangsu Province Information Analysis Engineering Research Center,Nanjing 211169,China;Nanjing Institute of Fisheries Science,Nanjing 210036,China)

机构地区：[1]金陵科技学院智能科学与控制工程学院,江苏南京211169 [2]上海海事大学物流科学与工程研究院,上海201306 [3]南京邮电大学自动化学院,江苏南京210023 [4]哈尔滨工程大学智能科学与工程学院,黑龙江哈尔滨150001 [5]金陵科技学院软件工程学院,江苏南京211169 [6]江苏省信息分析工程研究中心,江苏南京211169 [7]南京市水产科学研究所,江苏南京210036

出　　处：《金陵科技学院学报》2025年第1期43-51,共9页Journal of Jinling Institute of Technology

基　　金：金陵科技学院高层次人才科研启动项目(jit-b-201811);南京市市级现代农机装备与技术创新示范项目(NJ〔2022〕10);江苏省产学研合作项目(BY2021300)。

摘　　要：设计并实现了一种基于Pixhawk开源飞控的移动机器人集群系统。系统基于领航-跟随法构建编队运动模型,采用Bendyruler避障算法实现动态环境中的编队避障;考虑到GPS测量存在较大误差,采用卡尔曼滤波融合GPS与惯性测量单元(IMU)数据以提升位置信息的精度;结合自组网通信技术建立机器人集群实时协同控制系统。在Matlab上开展仿真实验并在实际场景中进行测试。实验结果表明,该系统能够实现复杂环境中的自主编队与避障任务,具备较高的可靠性和适应性,为多机器人协同作业提供了新的解决方案。This paper designs and implements a mobile robot swarm system based on the Pixhawk open-source flight control platform.The system constructs a formation motion model based on the leader-follower approach,and employs the Bendyruler obstacle avoidance algorithm to enable formation obstacle avoidance in dynamic environments.Considering the significant errors in GPS measurements,a Kalman filter is used to fuse GPS and inertial measurement unit(IMU)data to improve the accuracy of position information.Additionally,a real-time cooperative control system for the robot swarm is established using self-organizing network communication technology.Finally,simulations are conducted on Matlab,and tests are performed in real-world scenarios.Experimental results show that the system can successfully achieve autonomous formation and obstacle avoidance tasks in complex environments,with high reliability and adaptability,and providing a new solution for multi-robot collaborative operations.

关 键 词：Pixhawk 网络组态 领航-跟随算法 Bendyruler 移动机器人 集群系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]