非完整移动机器人的复合编队控制

Compound formation control for nonholonomic mobile robots

主要研究了非完整自主机器人之间的队形保持和避障问题,提出了一种新的复合编队控制方法,该方法根据机器人的期望位置在其运动约束区域内外的不同,分别以一种灵活的反馈线性化算法和最优近似目标算法来建立控制规则,并提出了编队环境中存在静态障碍物时的队形控制策略,从而实现多机器人的稳定编队控制．该方法降低了传统线性反馈控制对编队初始误差范围的要求,并且解决了非完整机器人编队的避障问题．实验结果表明了该编队控制方法的可行性和有效性．

This paper investigates the characteristics of formation and obstacle avoidance for nonholonomic mobile robots. Firstly, a novel approach of compound control is presented, which deals with the formation task based on two different algorithms： a flexible feedback linearization algorithm and an optimal approximate target algorithms. These two algorithms are selected according to robot＇s desired position and the limitation of kinematic constraint domain. Secondly, the obstacle avoidance control strategy is discussed to achieve a steady formation under the unstructured circumstances. The proposed method can reduce the limitation of initial errors compared with traditional feedback linearization, and resolve the obstacle avoidance problem in multiple robots formation control. Finally, experimental results are given to demonstrate the feasibility and effectiveness of the proposed method.